title: A computational simulated control system for a high-force pneumatic muscle actuator: system definition and application as an augmented orthosis.
abstract: High-force pneumatic muscle actuators (PMAs) are used for force assistance with minimal displacement applications. However, poor control due to dynamic nonlinearities has limited PMA applications. A simulated control system is developed consisting of: (1) a controller relating an input position angle to an output proportional pressure regulator voltage, (2) a phenomenological model of the PMA with an internal dynamic force loop (system time constant information), (3) a physical model of a human sit-to-stand task and (4) an external position angle feed-back loop. The results indicate that PMA assistance regarding the human sit-to-stand task is feasible within a specified PMA operational pressure range.
authors.affiliation: Department of Biomedical, Industrial and Human Factors Engineering, Wright State University, Dayton, OH, USA. gerschutz.4@wright.edu
authors.forename: Maria J
authors.initials: MJ
authors.lastname: Gerschutz
authors.forename: Chandler A
authors.initials: CA
authors.lastname: Phillips
authors.forename: David B
authors.initials: DB
authors.lastname: Reynolds
authors.forename: Daniel W
authors.initials: DW
authors.lastname: Repperger
mesh_terms: D001696:Biomechanical Phenomena; D001698:Biomedical Engineering; D003198:Computer Simulation; D005246:Feedback; D006801:Humans; D009119:Muscle Contraction; D009132:Muscles / Q000503:physiopathology*; D009989:Orthotic Devices; D012984:Software; D012985:Software Design; D013119:Spinal Cord Injuries / Q000503:physiopathology / Q000534:rehabilitation