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A bionic multi-chamber pneumatic actuator for powered exoskeleton based on muscle scale mechanism

Published online by Cambridge University Press:  18 September 2023

Delei Fang Open the ORCID record for Delei Fang [Opens in a new window] ,
Jianwei Wang ,
Ming Yang ,
Yan Zhang Open the ORCID record for Yan Zhang [Opens in a new window] ,
Peng Zhang  and
Junxia Zhang Open the ORCID record for Junxia Zhang [Opens in a new window]
Delei Fang*
Affiliation:
Tianjin Key Laboratory of Integrated Design and On-line Monitoring for Light Industry & Food Machinery and Equipment, College of Mechanical Engineering, Tianjin University of Science & Technology, Tianjin, China
Jianwei Wang
Affiliation:
Tianjin Key Laboratory of Integrated Design and On-line Monitoring for Light Industry & Food Machinery and Equipment, College of Mechanical Engineering, Tianjin University of Science & Technology, Tianjin, China
Ming Yang
Affiliation:
Tianjin Key Laboratory of Integrated Design and On-line Monitoring for Light Industry & Food Machinery and Equipment, College of Mechanical Engineering, Tianjin University of Science & Technology, Tianjin, China
Yan Zhang
Affiliation:
Tianjin Key Laboratory of Integrated Design and On-line Monitoring for Light Industry & Food Machinery and Equipment, College of Mechanical Engineering, Tianjin University of Science & Technology, Tianjin, China
Peng Zhang
Affiliation:
Tianjin Key Laboratory of Integrated Design and On-line Monitoring for Light Industry & Food Machinery and Equipment, College of Mechanical Engineering, Tianjin University of Science & Technology, Tianjin, China
Junxia Zhang
Affiliation:
Tianjin Key Laboratory of Integrated Design and On-line Monitoring for Light Industry & Food Machinery and Equipment, College of Mechanical Engineering, Tianjin University of Science & Technology, Tianjin, China
*
Corresponding author: Delei Fang; Email: fangdelei@tust.edu.cn
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Abstract

In order to solve the problems of low loading capacity and low driving efficiency for the powered exoskeleton, this paper presents a bionic multi-chamber pneumatic actuator based on muscle scale mechanism. Firstly, the bionic muscle scale mechanism and multi-chamber structure design for the novel pneumatic actuator are introduced. Afterward, the driving characteristics of the multi-chamber actuator are analyzed theoretically, including analysis of output force and analysis of energy efficiency. Then, the load matching control strategy for the novel actuator is optimized, and the load matching performance, displacement tracking accuracy, and energy efficiency are studied by simulation. Finally, the prototype of the multi-chamber actuator is developed, and the exoskeleton testing platform is built, experiment and discussion are conducted for the driving characteristics, which realized the high energy efficiency and the feasibility of load matching.

Keywords

powered exoskeletonpneumatic actuatorenergy efficiencyload matchingmuscle scale mechanism
Type
Research Article
Information
Robotica , Volume 41 , Issue 12 , December 2023 , pp. 3672 - 3686
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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