Pneumatic Muscle Actuator Control
Abstract
This research is relevant to the Air Fore mission because pneumatic muscle actuation devices arc advantageous for certain types of robotics as well as for strength and/or mobility assistance for humans. For space robotics, PMs are advantageous because they require little electrical power (being pneumatically powered), are lightweight, and can be easily constructed from cheap, readily available materials. The fact that PMs require little electrical power means that heavy generators and/or batteness are not necessary. The fact that they are easily constructed from cheap, readily-available materials insures that an actuator failure need not hamper the mission. Since PMs are similar in size and function to human muscles, PMs systems can also be used to actuate exoskeleton frames worn by humans to enhance strength and provide mobility assistance for military operations in the field. A requirement exists for the building of strength augmentation devices to help military personnel perform certain tasks that require unusual strength for short periods of time. Such systems can be powered by pneumatic muscle actuators. According to the 1997 DoD Defense Technology Area Plan (STAR), "performance enhancement technologies support future joint warfighting needs in teleoperation and physical aiding."
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 2000
- Accession Number
- ADA417796
Entities
People
- John H. Lilly
Organizations
- University of Louisville