Control of a pneumatically actuated joint for wearable supernumerary robotic limbs application
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2016
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| Online Access: | http://hdl.handle.net/1721.1/105691 |
| _version_ | 1811094381719977984 |
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| author | Lo, Roger (Roger D.) |
| author2 | Harry Asada. |
| author_facet | Harry Asada. Lo, Roger (Roger D.) |
| author_sort | Lo, Roger (Roger D.) |
| collection | MIT |
| description | Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016. |
| first_indexed | 2024-09-23T15:59:09Z |
| format | Thesis |
| id | mit-1721.1/105691 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T15:59:09Z |
| publishDate | 2016 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1056912019-04-10T11:19:29Z Control of a pneumatically actuated joint for wearable supernumerary robotic limbs application Lo, Roger (Roger D.) Harry Asada. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering. Mechanical Engineering. Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016. Cataloged from PDF version of thesis. Includes bibliographical references (page 31). Presented is work on the development of the Supernumerary Robotic Limbs project, headed by Federico Parietti in the d'Arbeloff Labs under Prof. Harry Asada. Specifically, this paper focuses on the integration of lightweight, pneumatic systems for prismatic joint actuation, and the various control schemes studied. This joint serves as the leg of the robot, and extends from the hip of the wearer to contact the ground. The design consists of a two-way pneumatic cylinder inside a load bearing carbon fiber sleeve, actuated with a nominally closed 5-3 way solenoid valve, and weighs in at <1kg per actuator. The positional control scheme is closed via tracking from a linear magnetopotentiometer, while the force control scheme utilizes both the positional tracking as well as a load cell at the foot of the leg. System modeling of the actuator dynamics allowed for development of a model based proportional control method. Optimization of the proportional gain and system delay time produced a rise time of 200ms given a step input command for a 250mm stroke. The developed scheme was implemented in the full wearable system to assist a human support weight in crouched positions and standing up from a sitting position. Initial testing has shown the effectiveness of the power, compactness and compliance of pneumatic systems in a wearable robotic device. by Roger Lo. S.B. 2016-12-05T19:58:14Z 2016-12-05T19:58:14Z 2016 2016 Thesis http://hdl.handle.net/1721.1/105691 964521711 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 31 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Lo, Roger (Roger D.) Control of a pneumatically actuated joint for wearable supernumerary robotic limbs application |
| title | Control of a pneumatically actuated joint for wearable supernumerary robotic limbs application |
| title_full | Control of a pneumatically actuated joint for wearable supernumerary robotic limbs application |
| title_fullStr | Control of a pneumatically actuated joint for wearable supernumerary robotic limbs application |
| title_full_unstemmed | Control of a pneumatically actuated joint for wearable supernumerary robotic limbs application |
| title_short | Control of a pneumatically actuated joint for wearable supernumerary robotic limbs application |
| title_sort | control of a pneumatically actuated joint for wearable supernumerary robotic limbs application |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/105691 |
| work_keys_str_mv | AT lorogerrogerd controlofapneumaticallyactuatedjointforwearablesupernumeraryroboticlimbsapplication |