Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers

Abstract

A dynamic model and control system of an artificial muscle is presented. The artificial muscle is based on a contractile polymer gel which undergoes abrupt volume changes in response to variations in external conditions. The device uses an acid-base reaction to directly convert chemical to mechanical energy. A nonlinear sliding mode control system is proposed to track desired joint trajectories of a single link controlled by two antagonist muscles. Both the model and controller were implemented and produced acceptable tracking performance at 2Hz.

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Document Details

Document Type
Technical Report
Publication Date
Nov 01, 1991
Accession Number
ADA259786

Entities

People

  • David L. Brock

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Availability
  • Base Lines
  • Control Systems
  • Differential Equations
  • Diffusion
  • Equations
  • Flow
  • Flow Rate
  • Fluid Flow
  • Materials
  • Modulus Of Elasticity
  • Osmotic Pressure
  • Phase Transformations
  • Protons
  • Reynolds Number
  • Schematic Diagrams

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