PNEUMATIC ARTIFICIAL MUSCLE

Problem:

The present invention provides systems and methods for the controlled actuation of robotic manipulators with cost effectiveness and efficiency.

Technology:

The present invention relates to robotic manipulators actuated by pneumatic artificial muscle (PAM) devices and methods of actuation, and in particular to pitch, roll, and yaw actuation of robotic manipulators.

Advantages:

•Actuators are at a remote location

•Compliant 

•Under actuated design for 3DOF and 4DOF actuated arms

•Pneumatically actuated 

Related Publications:

•Barkan Ugurlu, Paolo Forni, Corinne Doppmann, Emre Sariyildiz, and Jun Morimoto, Stable Control of Force, Position, and Stiffness for Robot Joints Powered via Pneumatic Muscles, IEEE Transactions on Industrial Informatics, Accepted. (SCI)

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