Design and Force/Angle Independent Control of a Bionic Mechanical Ankle Based on an Artificial Muscle Matrix
Inspired by the natural skeletal muscles, this paper presents a novel shape memory alloy-based artificial muscle matrix (AMM) with advantages of a large output force and displacement, flexibility, and compactness. According to the composition of the AMM, we propose a matrix control strategy to achie...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-01-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/9/1/38 |
| _version_ | 1797344573557571584 |
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| author | Zhikun Jia Guangming Han Hu Jin Min Xu Erbao Dong |
| author_facet | Zhikun Jia Guangming Han Hu Jin Min Xu Erbao Dong |
| author_sort | Zhikun Jia |
| collection | DOAJ |
| description | Inspired by the natural skeletal muscles, this paper presents a novel shape memory alloy-based artificial muscle matrix (AMM) with advantages of a large output force and displacement, flexibility, and compactness. According to the composition of the AMM, we propose a matrix control strategy to achieve independent control of the output force and displacement of the AMM. Based on the kinematics simulation and experiments, we obtained the output displacement and bearing capacity of the smart digital structure (SDS) and confirmed the effectiveness of the matrix control strategy to achieve force and displacement output independently and controllably. A bionic mechanical ankle actuated by AMM was proposed to demonstrate the actuating capability of the AMM. Experimental results show that the angle and force of the bionic mechanical ankle are output independently and have a significant gradient. In addition, by using a self-sensing method (resistance self-feedback) and PD control strategy, the output angle and force of the bionic mechanical ankle can be maintained for a long time without overheating of the AMM. |
| first_indexed | 2024-03-08T11:04:41Z |
| format | Article |
| id | doaj.art-b6140c0e5eb54423bec3c5997b018b35 |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-08T11:04:41Z |
| publishDate | 2024-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-b6140c0e5eb54423bec3c5997b018b352024-01-26T15:16:06ZengMDPI AGBiomimetics2313-76732024-01-01913810.3390/biomimetics9010038Design and Force/Angle Independent Control of a Bionic Mechanical Ankle Based on an Artificial Muscle MatrixZhikun Jia0Guangming Han1Hu Jin2Min Xu3Erbao Dong4CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, ChinaCAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, ChinaCAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, ChinaCAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, ChinaCAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, ChinaInspired by the natural skeletal muscles, this paper presents a novel shape memory alloy-based artificial muscle matrix (AMM) with advantages of a large output force and displacement, flexibility, and compactness. According to the composition of the AMM, we propose a matrix control strategy to achieve independent control of the output force and displacement of the AMM. Based on the kinematics simulation and experiments, we obtained the output displacement and bearing capacity of the smart digital structure (SDS) and confirmed the effectiveness of the matrix control strategy to achieve force and displacement output independently and controllably. A bionic mechanical ankle actuated by AMM was proposed to demonstrate the actuating capability of the AMM. Experimental results show that the angle and force of the bionic mechanical ankle are output independently and have a significant gradient. In addition, by using a self-sensing method (resistance self-feedback) and PD control strategy, the output angle and force of the bionic mechanical ankle can be maintained for a long time without overheating of the AMM.https://www.mdpi.com/2313-7673/9/1/38shape memory alloyartificial musclebionic anklematrix control |
| spellingShingle | Zhikun Jia Guangming Han Hu Jin Min Xu Erbao Dong Design and Force/Angle Independent Control of a Bionic Mechanical Ankle Based on an Artificial Muscle Matrix Biomimetics shape memory alloy artificial muscle bionic ankle matrix control |
| title | Design and Force/Angle Independent Control of a Bionic Mechanical Ankle Based on an Artificial Muscle Matrix |
| title_full | Design and Force/Angle Independent Control of a Bionic Mechanical Ankle Based on an Artificial Muscle Matrix |
| title_fullStr | Design and Force/Angle Independent Control of a Bionic Mechanical Ankle Based on an Artificial Muscle Matrix |
| title_full_unstemmed | Design and Force/Angle Independent Control of a Bionic Mechanical Ankle Based on an Artificial Muscle Matrix |
| title_short | Design and Force/Angle Independent Control of a Bionic Mechanical Ankle Based on an Artificial Muscle Matrix |
| title_sort | design and force angle independent control of a bionic mechanical ankle based on an artificial muscle matrix |
| topic | shape memory alloy artificial muscle bionic ankle matrix control |
| url | https://www.mdpi.com/2313-7673/9/1/38 |
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