Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
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Mathematical Model of McKibben Pneumatic Artificial Muscle Systems Involving Load-Dependent Parameters
Kiminao KogisoRyo Naito
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2013 Volume 26 Issue 7 Pages 269-276

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Abstract

This paper presents a nonlinear model, involving load-dependent parameters, of a McKibben pneumatic artificial muscle system that includes a proportional directional control valve, and also proposes a partially heuristic but reasonable procedure for identifying nine key parameters characterizing transient and steady state behaviors of the system. And then, this paper validates the obtained model and illustrates how it can simulate the real under several loads, comparing with experimental data.

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© 2013 The Institute of Systems, Control and Information Engineers
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