Control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs
Actuators; Artificial limbs; Costs; Engineering research; Linear control systems; Manufacture; Muscle; Position control; Prosthetics; Robotics; Artificial muscle; Electrically conductive; Fluid materials; Force generation; Manufacturing cost; Non linear control; Performance characteristics; Prosthet...
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2023
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my.uniten.dspace-230662023-05-29T14:37:39Z Control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs Atikah N.A. Weng L.Y. Anuar A. Fat C.C. Sahari K.S.M. Abidin I.Z. 57188930241 26326032700 13609166500 25824209000 57218170038 35606640500 Actuators; Artificial limbs; Costs; Engineering research; Linear control systems; Manufacture; Muscle; Position control; Prosthetics; Robotics; Artificial muscle; Electrically conductive; Fluid materials; Force generation; Manufacturing cost; Non linear control; Performance characteristics; Prosthetic limbs; Linear actuators Currently, the methods of actuating robotic-based prosthetic limbs are moving away from bulky actuators to more fluid materials such as artificial muscles. The main disadvantages of these artificial muscles are their high cost of manufacturing, low-force generation, cumbersome and complex controls. A recent discovery into using super coiled polymer (SCP) proved to have low manufacturing costs, high force generation, compact and simple controls. Nevertheless, the non-linear controls still exists due to the nature of heat-based actuation, which is hysteresis. This makes position control difficult. Using electrically conductive devices allows for very quick heating, but not quick cooling. This research tries to solve the problem by using peltier devices, which can effectively heat and cool the SCP, hence giving way to a more precise control. The peltier device does not actively introduce more energy to a volume of space, which the coiled heating does; instead, it acts as a heat pump. Experiments were conducted to test the feasibility of using peltier as an actuating method on different diameters of nylon fishing strings. Based on these experiments, the performance characteristics of the strings were plotted, which could be used to control the actuation of the string efficiently in the future. � 2017 Published under licence by IOP Publishing Ltd. Final 2023-05-29T06:37:39Z 2023-05-29T06:37:39Z 2017 Conference Paper 10.1088/1757-899X/257/1/012073 2-s2.0-85034999518 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85034999518&doi=10.1088%2f1757-899X%2f257%2f1%2f012073&partnerID=40&md5=ad1c654f81b251e87e82f5a13f6e6cb8 https://irepository.uniten.edu.my/handle/123456789/23066 257 1 12073 All Open Access, Bronze Institute of Physics Publishing Scopus |
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| description |
Actuators; Artificial limbs; Costs; Engineering research; Linear control systems; Manufacture; Muscle; Position control; Prosthetics; Robotics; Artificial muscle; Electrically conductive; Fluid materials; Force generation; Manufacturing cost; Non linear control; Performance characteristics; Prosthetic limbs; Linear actuators |
| author2 |
57188930241 |
| author_facet |
57188930241 Atikah N.A. Weng L.Y. Anuar A. Fat C.C. Sahari K.S.M. Abidin I.Z. |
| format |
Conference Paper |
| author |
Atikah N.A. Weng L.Y. Anuar A. Fat C.C. Sahari K.S.M. Abidin I.Z. |
| spellingShingle |
Atikah N.A. Weng L.Y. Anuar A. Fat C.C. Sahari K.S.M. Abidin I.Z. Control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs |
| author_sort |
Atikah N.A. |
| title |
Control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs |
| title_short |
Control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs |
| title_full |
Control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs |
| title_fullStr |
Control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs |
| title_full_unstemmed |
Control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs |
| title_sort |
control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs |
| publisher |
Institute of Physics Publishing |
| publishDate |
2023 |
| _version_ |
1806425826828222464 |
| score |
13.209306 |