負荷に依存するパラメータを用いたMcKibben型空気圧ゴム人工筋の数理モデル

抄録

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.