Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers
A dynamic model and control system of an artificial muscle is presented. The artificial muscle is based on a contractile polymer gel which undergoes abrupt volume changes in response to variations in external conditions. The device uses an acid-base reaction to directly convert chemical to mechanica...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/6581 |
| _version_ | 1826195806416273408 |
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| author | Brock, David L. |
| author_facet | Brock, David L. |
| author_sort | Brock, David L. |
| collection | MIT |
| description | A dynamic model and control system of an artificial muscle is presented. The artificial muscle is based on a contractile polymer gel which undergoes abrupt volume changes in response to variations in external conditions. The device uses an acid-base reaction to directly convert chemical to mechanical energy. A nonlinear sliding mode control system is proposed to track desired joint trajectories of a single link controlled by two antagonist muscles. Both the model and controller were implemented and produced acceptable tracking performance at 2Hz. |
| first_indexed | 2024-09-23T10:15:47Z |
| id | mit-1721.1/6581 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T10:15:47Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/65812019-04-11T02:52:31Z Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers Brock, David L. A dynamic model and control system of an artificial muscle is presented. The artificial muscle is based on a contractile polymer gel which undergoes abrupt volume changes in response to variations in external conditions. The device uses an acid-base reaction to directly convert chemical to mechanical energy. A nonlinear sliding mode control system is proposed to track desired joint trajectories of a single link controlled by two antagonist muscles. Both the model and controller were implemented and produced acceptable tracking performance at 2Hz. 2004-10-08T20:28:58Z 2004-10-08T20:28:58Z 1991-11-01 AIM-1331 http://hdl.handle.net/1721.1/6581 en_US AIM-1331 264681 bytes 409894 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Brock, David L. Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers |
| title | Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers |
| title_full | Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers |
| title_fullStr | Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers |
| title_full_unstemmed | Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers |
| title_short | Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers |
| title_sort | dynamic model and control of an artificial muscle based on contractile polymers |
| url | http://hdl.handle.net/1721.1/6581 |
| work_keys_str_mv | AT brockdavidl dynamicmodelandcontrolofanartificialmusclebasedoncontractilepolymers |