A computational simulated control system for a high-force pneumatic muscle actuator: system definition and application as an augmented orthosis

Maria J. Gerschutz, Chandler A. Phillips, David B. Reynolds and Daniel W. Repperger

Computer Methods in Biomechanics and Biomedical Engineering, 2009, vol. 12, issue 2, 173-183

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.

Date: 2009
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DOI: 10.1080/10255840802372052

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