複動型人工筋肉の開発と位置制御

抄録

This paper describes position control of double acting pneumatic artificial muscle(W–PAM). W–PAM have hysteresis characteristics with respect to the amount of contraction when internal pressure is increasing or decreasing. The purpose of this paper is to eliminate the hysteresis characteristics by adjusting the external pressure of the W–PAM by feedback control. Based on a mechanical equilibrium model representing the static characteristics, internal pressure was obtained from the contraction force and the contraction amount and applied to the W-PAM, and position feedback control was performed using the contraction amount as the target value and the external pressure as the operating amount. Experimental results confirmed that the W–PAM outputs characteristics consistent with the model, and at the same time, hysteresis is eliminated.