Control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs

Research output: Contribution to journalConference article

Abstract

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.

Original languageEnglish
Article number012073
JournalIOP Conference Series: Materials Science and Engineering
Volume257
Issue number1
DOIs
Publication statusPublished - 01 Nov 2017
Event4th International Conference on Mechanical Engineering Research, ICMER 2017 - Kuantan, Pahang, Malaysia
Duration: 01 Aug 201702 Aug 2017

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Prosthetics
Muscle
Robotics
Actuators
Costs
Polymers
Heating
Nylons
Position control
Hysteresis
Experiments
Pumps
Cooling
Fluids
Hot Temperature

All Science Journal Classification (ASJC) codes

  • Materials Science(all)
  • Engineering(all)

Cite this

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abstract = "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.",
author = "Atikah, {Nurul Anis} and Leong, {Yeng Weng} and Adzly Anuar and Chau, {Chien Fat} and {Mohamed Sahari}, {Khairul Salleh} and {Zainal Abidin}, Izham",
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AU - Zainal Abidin, Izham

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