Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers

dc.creator	Brock, David L.
dc.date	2004-10-08T20:28:58Z
dc.date	2004-10-08T20:28:58Z
dc.date	1991-11-01
dc.date.accessioned	2013-10-09T02:46:07Z
dc.date.available	2013-10-09T02:46:07Z
dc.date.issued	2013-10-09
dc.identifier	AIM-1331
dc.identifier	http://hdl.handle.net/1721.1/6581
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.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.
dc.format	264681 bytes
dc.format	409894 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-1331
dc.title	Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers

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