Pneumatic Artificial Muscles (PAMs) Identification for Actuating a Wrist-Joint Rehabilitation Robot
Pneumatic Artificial Muscles (PAMs) are the most promising type of pneumatic-based actuators. Recently, they have been widely used in medical and rehabilitation robotic systems due to their flexibility, reliability, and high load-to-weight ratio. The aim of this work is to introduce an accurate math...
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| Format: | Article |
| Language: | Arabic |
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Faculty of Engineering, Tanta University
2023-03-01
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| Series: | Journal of Engineering Research - Egypt |
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| Online Access: | https://erjeng.journals.ekb.eg/article_280826_c14f45f974dfd249d59ab7a526c614a7.pdf |
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| _version_ | 1850159104473956352 |
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| author | Omer Mehrez Amr Hegazy El-Sayed El-Agouz Mohamed Bassuoni |
| author_facet | Omer Mehrez Amr Hegazy El-Sayed El-Agouz Mohamed Bassuoni |
| author_sort | Omer Mehrez |
| collection | DOAJ |
| description | Pneumatic Artificial Muscles (PAMs) are the most promising type of pneumatic-based actuators. Recently, they have been widely used in medical and rehabilitation robotic systems due to their flexibility, reliability, and high load-to-weight ratio. The aim of this work is to introduce an accurate mathematical model for describing the performance of the pneumatic artificial muscles under different applied pressures and loads by examining different previously proposed models. Being motivated by the muscles’ usage in a wearable robotic device for wrist rehabilitation where the required muscle force is not so large, it is interesting to consider the model that best expresses the muscle behavior over a lower range of the muscle force. An experimental system for measuring the muscle contraction at different applied pressures and loads is set up. Then, an algorithm for the parameters identification of the examined models based on the least squared error approach is developed using MATLAB Software. |
| format | Article |
| id | doaj-art-3d012a8e993845fab5d0df42552b2c6b |
| institution | OA Journals |
| issn | 2356-9441 2735-4873 |
| language | Arabic |
| publishDate | 2023-03-01 |
| publisher | Faculty of Engineering, Tanta University |
| record_format | Article |
| series | Journal of Engineering Research - Egypt |
| spelling | doaj-art-3d012a8e993845fab5d0df42552b2c6b2025-08-20T02:23:40ZaraFaculty of Engineering, Tanta UniversityJournal of Engineering Research - Egypt2356-94412735-48732023-03-0171536010.21608/erjeng.2023.179380.1131280826Pneumatic Artificial Muscles (PAMs) Identification for Actuating a Wrist-Joint Rehabilitation RobotOmer Mehrez0Amr Hegazy1El-Sayed El-Agouz2Mohamed Bassuoni3Department of Mechanical Power Engineering, Faculty of Engineering, Tanta University, EgyptDepartment of Mechanical Power Engineering, Faculty of Engineering, Tanta University, Egypt1- Department of Mechanical Power Engineering, Faculty of Engineering, Tanta University, Egypt 2- Faculty of Industry and Energy Technology, Delta Technological University, Quesna, EgyptDepartment of Mechanical Power Engineering, Faculty of Engineering, Tanta University, EgyptPneumatic Artificial Muscles (PAMs) are the most promising type of pneumatic-based actuators. Recently, they have been widely used in medical and rehabilitation robotic systems due to their flexibility, reliability, and high load-to-weight ratio. The aim of this work is to introduce an accurate mathematical model for describing the performance of the pneumatic artificial muscles under different applied pressures and loads by examining different previously proposed models. Being motivated by the muscles’ usage in a wearable robotic device for wrist rehabilitation where the required muscle force is not so large, it is interesting to consider the model that best expresses the muscle behavior over a lower range of the muscle force. An experimental system for measuring the muscle contraction at different applied pressures and loads is set up. Then, an algorithm for the parameters identification of the examined models based on the least squared error approach is developed using MATLAB Software.https://erjeng.journals.ekb.eg/article_280826_c14f45f974dfd249d59ab7a526c614a7.pdfpneumatic artificial muscles identificationpamswrist-joint rehabilitation robot |
| spellingShingle | Omer Mehrez Amr Hegazy El-Sayed El-Agouz Mohamed Bassuoni Pneumatic Artificial Muscles (PAMs) Identification for Actuating a Wrist-Joint Rehabilitation Robot Journal of Engineering Research - Egypt pneumatic artificial muscles identification pams wrist-joint rehabilitation robot |
| title | Pneumatic Artificial Muscles (PAMs) Identification for Actuating a Wrist-Joint Rehabilitation Robot |
| title_full | Pneumatic Artificial Muscles (PAMs) Identification for Actuating a Wrist-Joint Rehabilitation Robot |
| title_fullStr | Pneumatic Artificial Muscles (PAMs) Identification for Actuating a Wrist-Joint Rehabilitation Robot |
| title_full_unstemmed | Pneumatic Artificial Muscles (PAMs) Identification for Actuating a Wrist-Joint Rehabilitation Robot |
| title_short | Pneumatic Artificial Muscles (PAMs) Identification for Actuating a Wrist-Joint Rehabilitation Robot |
| title_sort | pneumatic artificial muscles pams identification for actuating a wrist joint rehabilitation robot |
| topic | pneumatic artificial muscles identification pams wrist-joint rehabilitation robot |
| url | https://erjeng.journals.ekb.eg/article_280826_c14f45f974dfd249d59ab7a526c614a7.pdf |
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