A computational simulated control system for a high-force pneumatic muscle actuator: system definition and application as an augmented orthosis.
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.
Gerschutz
Maria J
MJ
Department of Biomedical, Industrial and Human Factors Engineering, Wright State University, Dayton, OH, USA. gerschutz.4@wright.edu
Phillips
Chandler A
CA
Reynolds
David B
DB
Repperger
Daniel W
DW
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