title: Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations.
abstract: Adaptive tracking techniques are applied to pneumatic muscle actuators arranged in bicep and tricep configurations. The control objective is to force the joint angle to track a specified reference path. Mathematical models are derived for the bicep and tricep configurations. The models are nonlinear and in general time-varying, making adaptive control desirable. Stability results are derived, and the results of simulation studies are presented, contrasting the nonlinear adaptive control to a nonadaptive PID control approach.
mesh_terms: D032701:Biomimetics / Q000295:instrumentation* / Q000379:methods*; D003198:Computer Simulation; D003491:Cybernetics / Q000295:instrumentation / Q000379:methods; D004548:Elasticity; D005246:Feedback; D006801:Humans; D008954:Models, Biological; D009068:Movement / Q000502:physiology; D009119:Muscle Contraction / Q000502:physiology*; D018482:Muscle, Skeletal / Q000502:physiology*; D017711:Nonlinear Dynamics; D011474:Prosthesis Design / Q000379:methods; D012212:Rheology / Q000295:instrumentation / Q000379:methods; D012371:Robotics / Q000295:instrumentation / Q000379:methods; D013314:Stress, Mechanical; D019415:Torque; D034941:Upper Extremity / Q000502:physiology