Characterisation of a phenomenological model for commercial pneumatic muscle actuators.
This study focuses on the parameter characterisation of a three-element phenomenological model for commercially available pneumatic muscle actuators (PMAs). This model consists of a spring, damping and contractile element arranged in parallel. Data collected from static loading, contraction and relaxation experiments were fitted to theoretical solutions of the governing equation for the three-element model resulting in prediction profiles for the spring, damping and contractile force coefficient. For the spring coefficient, K N/mm, the following relationships were found: K = 32.7 - 0.0321P for 150 < or = P < or = 314 kPa and K = 17 + 0.0179P for 314 < or = P < or = 550 kPa. For the damping coefficient, B Ns/mm, the following relationship was found during contraction: B = 2.90 for 150 < or = P < or = 550 kPa. During relaxation, B = 1.57 for 150 < or = P < or = 372 kPa and B = 0.311 + 0.00338P for 372 < or = P < or = 550. The following relationship for the contractile force coefficient, F(ce) N, was also determined: F(ce) = 2.91P+44.6 for 150 < or = P < or = 550 kPa. The model was then validated by reasonably predicting the response of the PMA to a triangular wave input in pressure under a constant load on a dynamic test station.
Serres
J L
JL
Department of Biomedical, Industrial and Human Factors Engineering, Wright State University, Dayton, OH, USA. serres.3@wright.edu
Reynolds
D B
DB
Phillips
C A
CA
Gerschutz
M J
MJ
Repperger
D W
DW
D001696:Biomechanical Phenomena; D001698:Biomedical Engineering / Q000295:instrumentation; D003198:Computer Simulation; D006801:Humans; D048228:Intermittent Pneumatic Compression Devices; D008954:Models, Biological; D008962:Models, Theoretical; D009119:Muscle Contraction / Q000502:physiology; D009126:Muscle Relaxation / Q000502:physiology; D009132:Muscles / Q000502:physiology*; D012371:Robotics