Characterisation of a phenomenological model for commercial pneumatic muscle actuators

J.L. Serres, D.B. Reynolds, C.A. Phillips, M.J. Gerschutz and D.W. Repperger

Computer Methods in Biomechanics and Biomedical Engineering, 2009, vol. 12, issue 4, 423-430

Abstract: 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 ≤ P ≤ 314 kPa and K = 17 + 0.0179P for 314 ≤ P ≤ 550 kPa. For the damping coefficient, B Ns/mm, the following relationship was found during contraction: B = 2.90 for 150 ≤ P ≤ 550 kPa. During relaxation, B = 1.57 for 150 ≤ P ≤ 372 kPa and B = 0.311 + 0.00338P for 372 ≤ P ≤ 550. The following relationship for the contractile force coefficient, Fce N, was also determined: Fce = 2.91P+44.6 for 150 ≤ P ≤ 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.

Date: 2009
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

Downloads: (external link)
http://hdl.handle.net/10.1080/10255840802654327 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:gcmbxx:v:12:y:2009:i:4:p:423-430

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/gcmb20

DOI: 10.1080/10255840802654327

Access Statistics for this article

Computer Methods in Biomechanics and Biomedical Engineering is currently edited by Director of Biomaterials John Middleton

More articles in Computer Methods in Biomechanics and Biomedical Engineering from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().