Control design of McKibben type pneumatic artificial muscle using V-Tiger and Confidence interval analysis of closed-loop response considering input saturation

• Published in: Kikai Gakkai ronbunshū = Transactions of the Japan Society of Mechanical Engineers Vol. 89; no. 924; p. 23-00104
• Main Authors: YASE, Hayato, KAJIWARA, Shinji, OHNISHI, Jinna, OHTSUBO, Yoshikazu, KOSAKA, Manabu, IKEDA, Atsutoshi, TAKEMOTO, Yasuhiko
• Format: Journal Article
• Language: Japanese
• Published: The Japan Society of Mechanical Engineers 2023
• Subjects: Confidence interval analysis; Data-driven control; Input saturation; McKibben type Pneumatic artificial muscle; V-Tiger

Pneumatic rubber artificial muscles are nearly ideal for power assistance, medical care, and rehabilitation due to their lightweight drive unit made of rubber, which is soft and safe for human use. However, they have complex nonlinearities, including input saturation, hysteresis, and changes in stat...