Pneumatically powered prostheses have the ability to restore function and improve the quality of life by providing external power, thus decreasing human effort. However, such prostheses are expensive because they use high performance servo valves and complex control systems. To overcome this limitation, a pneumatic actuator is retrofitted with cheap solenoid valves and controlled by pulse width modulation for continuous control. High fidelity control is achieved by using a negative displacement configuration in which pressure is released on one side to create motion. The performance of the system is demonstrated using a series of position, force control experiments and ability to withstand external impulses. The pneumatic system is cheap, has high repeatability, and accuracy. The main limitation is that the speed of response is much slower than a positive displacement system but better design of the solenoid valve and use of predictive control has the potential to alleviate this issue.
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ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 6–9, 2017
Cleveland, Ohio, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5817-2
PROCEEDINGS PAPER
Variable Position and Force Control of a Pneumatically Actuated Knee Joint
Jeremy Krause,
Jeremy Krause
University of Texas at San Antonio, San Antonio, TX
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Pranav Bhounsule
Pranav Bhounsule
University of Texas at San Antonio, San Antonio, TX
Search for other works by this author on:
Jeremy Krause
University of Texas at San Antonio, San Antonio, TX
Pranav Bhounsule
University of Texas at San Antonio, San Antonio, TX
Paper No:
DETC2017-67394, V05AT08A059; 8 pages
Published Online:
November 3, 2017
Citation
Krause, J, & Bhounsule, P. "Variable Position and Force Control of a Pneumatically Actuated Knee Joint." Proceedings of the ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5A: 41st Mechanisms and Robotics Conference. Cleveland, Ohio, USA. August 6–9, 2017. V05AT08A059. ASME. https://doi.org/10.1115/DETC2017-67394
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