MODELING INVERSE AIRFLOW DYNAMICS TOWARD FAST MOVEMENT GENERATION USING PNEUMATIC ARTIFICIAL MUSCLE WITH LONG AIR TUBES

Abstract

This study entailed the derivation of an inverse airflow dynamics model that causes pneumatic transmission delay due to the long air tube in pneumatic artificial muscle control. The inverse model of the derived airflow dynamics was used in designing a feedforward pressure control command. We also modulated the feedback command based on the proposed pressure control for precise force tracking performance. The proposed methods were validated by varying the tube lengths in the pressure tracking task and force tracking task. With the proposed method, the pressure tracking task to the sinusoidal desired profile of 2.5 Hz were successfully achieved and the RMSE decreased 63% under a certain condition.