國立虎尾科技大學 |

Design and Control of Artificial Muscles for Robotic Applications /

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Design and Control of Artificial Muscles for Robotic Applications // Thilina Hemaka Weerakkody.
作者:	Weerakkody, Thilina Hemaka,
面頁冊數:	1 electronic resource (310 pages)
附註:	Source: Dissertations Abstracts International, Volume: 86-08, Section: B.
Contained By:	Dissertations Abstracts International86-08B.
標題:	Applied mathematics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31631584
ISBN:	9798302861559

Design and Control of Artificial Muscles for Robotic Applications /
Weerakkody, Thilina Hemaka,

Design and Control of Artificial Muscles for Robotic Applications /Thilina Hemaka Weerakkody. - 1 electronic resource (310 pages)

Source: Dissertations Abstracts International, Volume: 86-08, Section: B.

This dissertation presents the development of modeling and control architectures for innovative robotic devices powered by artificial muscles. It focuses on developing theoretical models to design and describe the behavior of artificial muscles-specifically twisted and coiled artificial muscles (TCAMs), twisted and spiraled artificial muscles (TSAMs), and NiTi shape memory alloy (SMA) muscles-and on implementing robust control algorithms for real-time applications. The research addresses various applications, including rehabilitation robotics, underwater exploration, and robotic surgery, by modeling, manufacturing, and testing a range of devices.A physics-based theoretical model and an adaptive robust control architecture are proposed for actuating TCAMs, TSAMs, and SMA muscles. These models and controllers are experimentally validated through several practical applications: a soft exoskeleton for wrist rehabilitation, a variable stiffness Ankle-Foot Orthosis, a soft glove for hand rehabilitation, an octopus-inspired muscular hydrostat for underwater tasks, deployable vortex generators to enhance the aerodynamic performance of small unmanned aerial vehicles operating at low Reynolds numbers, and a surgical robot for paracentesis procedures. This work also includes developing simulation models, data acquisition frameworks, control hardware, and circuitry, which have contributed to numerous peer-reviewed journal publications.The thesis is structured to provide a comprehensive overview of the theoretical models and control frameworks, their application in various robotic devices, and their experimental validation. It begins with developing a generalized physics-based model for TCAM actuation, followed by the design of an L1 adaptive control algorithm suitable for the highly nonlinear nature of TCAMs and SMA muscles. Subsequent chapters explore the applications of these models and control algorithms in rehabilitation robotics, underwater environments, and surgical robotics. The research demonstrates significant advancements in developing and controlling robotic devices powered by artificial muscles, highlighting their potential for broader adoption in diverse real-time applications.

English

ISBN: 9798302861559Subjects--Topical Terms:

1069907
Applied mathematics.
Subjects--Index Terms:

Artificial muscles

Design and Control of Artificial Muscles for Robotic Applications /
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