Due to their high power-to-weight ratio and low cost, pneumatic actuators are attractive for robotics and automation applications; however, achieving fast and accurate control of their position have been known as a complex control problem. A methodology for obtaining high position accuracy with a linear pneumatic actuator is presented. During experimentation with a number of PID classical contr...

There has been increased interest in use of pneumatic actuators in many fields, such as medical care and welfare. In particular, proposed pneumatic soft actuator with soft material has many advantages such as low mass, flexibility, safety and user-friendliness. We therefore focus on the pneumatic actuators as a drive source of a rehabilitation device. This paper describes the concept, design, p...

This paper presents a method for the impedance control of a pneumatic manipulator for peg-in-hole tasks without using a load cell. The control methodology presented contains a sliding mode force controller and an adaptive pressure summation relationship, which enforces the controllable natural stiffness of the pneumatic actuator. This is accomplished by utilizing two three-way proportional spoo...

In this contribution, three nonlinear control strategies are presented for a two-degree-offreedom parallel robot that is actuated by two pairs of pneumatic muscle actuators as depicted in Fig. 1. Pneumatic muscles are innovative tensile actuators consisting of a fibrereinforced vulcanised rubber hose with appropriate connectors at both ends. The working principle is based on a rhombical fibre s...

An experimental study concerning particle behaviors in a horizontal dilute swirling flow pneumatic conveying was performed. Measurements of particle velocities and concentration profiles have been carried out using the photographic image technique. From the experimental results, it is found that mean particle velocity of swirling flow pneumatic conveying is lower than that of conventional pneum...

One strategy for actuating soft machines (e.g., tentacles, grippers, and simple walkers) uses pneumatic inflation of networks of small channels in an elastomeric material. Although the management of a few pneumatic inputs and valves to control pressurized gas is straightforward, the fabrication and operation of manifolds containing many (>50) independent valves is an unsolved problem. Complex p...

The objective of this paper is to present the methods of development and study of control law of rodless pneumatic actuator with fuzzy regulator in order to improve the accuracy of the pneumatic drive carriage positioning. The basis for improving the accuracy of positioning of the pneumatic actuator is the Intelligent Control System.

This paper reports on existing and novel transducers for improved quantitative investigations of the levels of applied pressures and pressure gradients produced on human limbs by non-pneumatic tourniquet straps, and by non-pneumatic elastic bandages and elastic rolls when used as tourniquets, for comparison to benchmark data for pneumatic tourniquet cuffs commonly used in surgery at present.

We introduce a vacuum-powered soft pneumatic actuator (V-SPA) which leverages a single, shared vacuum power supply and enables complex soft robotic systems with multiple-DoF and diverse functions. In addition to actuation, other utilities enabled by vacuum pressure include gripping and stiffening through granular media jamming, as well as direct suction adhesion to smooth surfaces, for manipula...

Abstract—Pneumatic artificial muscles are a quite interesting type of actuators which have a very high power-to-weight and power-to-volume ratio. However, their efficient use requires very accurate control methods which can take into account their complex dynamic, which is highly nonlinear. This paper consider a model of two-degree-of-freedom platform whose attitude is determined by three pneum...