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Proceedings Paper

Biologically inspired control for artificial muscles
Author(s): Robert C. Richardson; Kevin Watterson; Mike D. Brown; Martin C. Levesley; Jamie A. Hawkes; Peter G. Walker
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Paper Abstract

New actuator technologies are moving closer towards the creation of artificial muscles. For these muscles to behave in synergy with natural human muscle then they must be controlled in a similar manner. It has been postulated that the control of human motion is achieved through a force and position control strategy termed impedance control. An impedance controller has been developed for implementation on an ionic polymer-metal composite (IPMC) actuator. The basis for this controller is a PID position controller that is demonstrated to accurately control the position response of the IPMC actuator. This position controller is extended to form an impedance controller with a force control loop and impedance filter. Inspite of identified non-linearities in the polymer force output during motion, the impedance controller has been successfully implemented demonstrating the controller design process and good performance of the control strategy.

Paper Details

Date Published: 11 July 2002
PDF: 8 pages
Proc. SPIE 4695, Smart Structures and Materials 2002: Electroactive Polymer Actuators and Devices (EAPAD), (11 July 2002); doi: 10.1117/12.475178
Show Author Affiliations
Robert C. Richardson, Univ. of Leeds (United Kingdom)
Kevin Watterson, Leeds General Infirmary (United Kingdom)
Mike D. Brown, WS Atkins Consultants, Ltd. (United Kingdom)
Martin C. Levesley, Univ. of Leeds (United Kingdom)
Jamie A. Hawkes, Univ. of Leeds (United Kingdom)
Peter G. Walker, Univ. of Leeds (United Kingdom)

Published in SPIE Proceedings Vol. 4695:
Smart Structures and Materials 2002: Electroactive Polymer Actuators and Devices (EAPAD)
Yoseph Bar-Cohen, Editor(s)

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