Implementation of Oil-Based Hydraulic Artificial Muscles in a Bio-Inspired Configuration

2019 IEEE Pacific Rim Conference on Communications, Computers and Signal Processing (PACRIM) Pub Date : 2019-08-01 DOI:10.1109/PACRIM47961.2019.8985105

A. Nikkhah, C. Bradley

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引用次数: 2

Abstract

The hydraulic artificial muscles (HAMs) have been studied recently due to the high power/weight ratio, inherent safety and their human-like characteristics which provide a great potential in biomedical applications like exoskeleton robots and artificial limbs. In this paper, a new oil-based hydraulic artificial muscle (OHAM) with a bio-inspired configuration is presented. The common parts in traditional pneumatic artificial muscles (PAMs) like compressors, pumps and tanks are replaced with linear actuator and cylinders which makes the platform of the OHAM more compact. Moreover, a phenomenological model is used for the dynamic modeling of the OHAM in the static and dynamic states. Then, a new program in LabVIEW software is developed for the signal processing of the system which helps applicants visualize every aspect of the experimental tests, including hardware configuration, data measurement, and troubleshooting. Additionally, characteristics of the OHAM are determined by the implementation of experimental tests for a single artificial muscle. Finally, the bio-inspired configuration is implemented in order to demonstrate the usefulness of the hardware and software of OHAMs in an opposing pair configuration.

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仿生结构油基液压人工肌肉的实现

液压人造肌肉由于其高功率/重量比、固有安全性和类人特性，在外骨骼机器人和假肢等生物医学领域具有很大的应用潜力，近年来得到了广泛的研究。提出了一种新型的仿生油基液压人工肌肉(OHAM)。传统气动人工肌肉(pam)中的常见部件，如压缩机，泵和储罐被线性执行器和气缸取代，使OHAM平台更加紧凑。此外，采用现象学模型对OHAM在静态和动态状态下的动态建模。然后，在LabVIEW软件中开发了一个新的程序，用于系统的信号处理，帮助申请人可视化实验测试的各个方面，包括硬件配置，数据测量和故障排除。此外，OHAM的特性是通过对单个人造肌肉进行实验测试来确定的。最后，实现了仿生配置，以演示oham的硬件和软件在对对配置中的有用性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2019 IEEE Pacific Rim Conference on Communications, Computers and Signal Processing (PACRIM)

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