Design, modeling, and control of pneumatic artificial muscles with integrated soft sensing

摘要

Presented are techniques for designing, modeling, and control of reliable pneumatic artificial muscle actuators with integrated low profile sensors for position feedback. The sensor is fabricated through a three-dimensional manufacturing process based on a modified lathe approach for controlling viscous and viscoelastic materials as well as on direct writing of liquid metal. Next, a new precision pneumatic muscle design and its integration with the sensor is illustrated. A theoretical model and experimental characterization of the muscle-sensor package are presented with high correlation and repeatability. Finally, a position feedback sliding mode controller is implemented with a position error of <0.9% of maximum muscle contraction.