Experimental Characterization and Control of Miniaturized Pneumatic Artificial Muscle

Chakravarthy, Shanthanu and Aditya, K and Ghosal, Ashitava (2014) Experimental Characterization and Control of Miniaturized Pneumatic Artificial Muscle. In: JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME, 8 (4).

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Abstract

Robotic surgical tools used in minimally invasive surgeries (MIS) require miniaturized and reliable actuators for precise positioning and control of the end-effector. Miniature pneumatic artificial muscles (MPAMs) are a good choice due to their inert nature, high force to weight ratio, and fast actuation. In this paper, we present the development of miniaturized braided pneumatic muscles with an outer diameter of similar to 1.2 mm, a high contraction ratio of about 18%, and capable of providing a pull force in excess of 4 N at a supply pressure of 0.8 MPa. We present the details of the developed experimental setup, experimental data on contraction and force as a function of applied pressure, and characterization of the MPAM. We also present a simple kinematics and experimental data based model of the braided pneumatic muscle and show that the model predicts contraction in length to within 20% of the measured value. Finally, a robust controller for the MPAMs is developed and validated with experiments and it is shown that the MPAMs have a time constant of similar to 10 ms thereby making them suitable for actuating endoscopic and robotic surgical tools.

Item Type:	Journal Article
Publication:	JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME
Publisher:	ASME
Additional Information:	Copy right for this article belongs to the ASME, TWO PARK AVE, NEW YORK, NY 10016-5990 USA
Keywords:	artificial pneumatic muscles; miniaturized actuators; minimally invasive surgery tools; pneumatic actuator control
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	14 Feb 2015 13:31
Last Modified:	14 Feb 2015 13:31
URI:	http://eprints.iisc.ac.in/id/eprint/50781

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