Ahmad Sharbafi, Maziar ; Shin, Hirofumi ; Zhao, Guoping ; Hosoda, Koh ; Seyfarth, Andre (2017)
Electric-Pneumatic Actuator: A New Muscle for Locomotion.
In: Actuators, 6 (4)
doi: 10.3390/act6040030
Article, Bibliographie
This is the latest version of this item.
Abstract
A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections) which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA) as an enhanced variable impedance actuator (VIA). EPA is consisted of a pneumatic artificial muscle (PAM) and an electric motor (EM). In contrast to other VIAs, the pneumatic artificial muscle (PAM) within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel) to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power) and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot) show improved efficiency of the actuator at different frequencies.
| Item Type: | Article |
|---|---|
| Erschienen: | 2017 |
| Creators: | Ahmad Sharbafi, Maziar ; Shin, Hirofumi ; Zhao, Guoping ; Hosoda, Koh ; Seyfarth, Andre |
| Type of entry: | Bibliographie |
| Title: | Electric-Pneumatic Actuator: A New Muscle for Locomotion |
| Language: | English |
| Date: | 2017 |
| Publisher: | MDPI |
| Journal or Publication Title: | Actuators |
| Volume of the journal: | 6 |
| Issue Number: | 4 |
| DOI: | 10.3390/act6040030 |
| URL / URN: | https://doi.org/10.3390/act6040030 |
| Corresponding Links: | |
| Abstract: | A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections) which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA) as an enhanced variable impedance actuator (VIA). EPA is consisted of a pneumatic artificial muscle (PAM) and an electric motor (EM). In contrast to other VIAs, the pneumatic artificial muscle (PAM) within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel) to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power) and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot) show improved efficiency of the actuator at different frequencies. |
| Classification DDC: | 700 Arts and recreation > 796 Sports |
| Divisions: | 03 Department of Human Sciences 03 Department of Human Sciences > Institut für Sportwissenschaft Zentrale Einrichtungen Zentrale Einrichtungen > Centre for Cognitive Science (CCS) |
| Date Deposited: | 02 Aug 2024 12:33 |
| Last Modified: | 02 Aug 2024 12:33 |
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| Suche nach Titel in: | TUfind oder in Google |
Available Versions of this Item
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Electric-Pneumatic Actuator: A New Muscle for Locomotion. (deposited 05 Nov 2017 20:55)
- Electric-Pneumatic Actuator: A New Muscle for Locomotion. (deposited 02 Aug 2024 12:33) [Currently Displayed]
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