A one-degree-of-freedom set-up driven by pneumatic muscles was designed and built in order to research the applicability of pneumatic artificial muscles in industrial applications, especially in wearable robots such as exoskeletons. The experimental set-up is very non-linear and very difficult to control properly. This paper describes the control of this mechatronic system’s interaction with it...

An angle trajectory tracking of a 3-DOF (Degree Of Freedom) pneumatic motion platform by the NI Compact RIO control system was investigated. In this study, the positions of moving platform are changed by extension or shortening of the three pneumatic cylinders. The response of pneumatic cylinder is relatively slow for motor actuator and can get a good single-axis trajectory control by tradition...

Fault diagnosis is an ongoing significant research field, due to the constant increasing need for maintainability, reliability and safety of industrial plants. The pneumatic actuators are installed mainly in harsh environment: high temperature, pressure, aggressive media, vibration, etc. This influenced on the Pneumatic actuator predicted lifetime. The failures in pneumatic actuator cause force...

Pneumatic muscle is a new type of flexible actuator with advantages in terms of light weight, large output power/weight ratio, good security, low price and clean. In this paper, an ankle rehabilitation robot with two degrees of freedom driven by pneumatic muscle is studied. The force control method with an impedance controller in outer loop and a position inner loop is proposed. The demand of r...

Traditionally the control of pneumatic actuators has been limited to movement between pre-set stops or switches. Modern pneumatic systems exhibit great power to weight ratio, are backdrivable and can be precision controlled. As such these actuators offer great advantages over direct drive electric motors for robotic devices. Increasingly robots are required to interact directly with humans requ...

This paper presents a control methodology that enables nonlinear model based control of pulse width modulated (PWM) pneumatic servo actuators. An averaging approach is developed to describe the equivalent continuous-time dynamics of a PWM controlled nonlinear system, which renders the system, originally discontinuous and possibly non-affine in the input, into an equivalent system that is both c...

Perceived comfort level and ride stability are the two most important factors in the evaluation of suspension system in a mobile vehicle. It is extremely difficult to simultaneously maintain a high standard of vehicle ride, handling and body control in the vehicle by using conventional passive suspension system. However, the use of active suspensions would result in better comforts than the pas...

We present a three-dimensional modeling study of gas flow in the unsaturated fractured rock of Yucca Mountain. Our objective was to estimate large-scale fracture permeability, using the changes in subsurface pneumatic pressure in response to barometric pressure changes at the land surface. We incorporate the field-measured pneumatic data into a multiphase flow model for describing the coupled p...

Pneumatic-actuated valves are critical components in many applications, including cryogenic propellant loading for space operations. For these components, failures need to be predicted so that components can be repaired to ensure mission success, i.e., health monitoring and fault prognostics is required. In order to develop, test, mature, and deploy valve prognostics algorithms, we have develop...

Although electrical motors are still the main devices used in vehicular exhaust comprises more than 95 percent of the air pollution in Taiwan's largest city, Taipei. On average, all commuters in Taipei travel 13.6 km daily, while motorcycle commuters travel 12.2 km. The convenience and mobility of motorcycles makes them irreplaceable in Taiwan city traffic but they add significantly to air poll...