• Corpus ID: 49528844

Development of Miniaturized Pneumatic Artificial Muscle for Surgical Device

@inproceedings{Chakravarthy2013DevelopmentOM,
  title={Development of Miniaturized Pneumatic Artificial Muscle for Surgical Device},
  author={Shanthanu Chakravarthy and Ashitava Ghosal},
  year={2013}
}
Robotic surgical tools used in minimally invasive surgeries (MIS) require reliable actuators for precise positioning and control. Miniature pneumatic artificial muscles (MPAM) appear most suited for actuating surgical devices because of their inert nature, high force to weight ratio and fast actuation. However, MPAMs are not readily available and pose considerable challenge in their design and control. In this regard, we develop a miniaturized air muscles with outer diameter of ~1.2 mm. The… 
Point-to-point positioning control of a pneumatic muscle actuated system using improved-PID control
Over the past decade, pneumatic muscle actuator (PMA) has been in the limelight and receiving much attention not only in the field of industrial application as well as in prominent research areas
Practical Control Strategy for Positioning Control of Pneumatic Artificial Muscles Driven Stage: Improved NCTF Control
TLDR
The objective of this study is to improve the conventional NCTF controller by removing the actual velocity feedback to eliminate vibration problem, added an acceleration feedback compensator to the plant model, and a reference rate feedforward to solve low damping characteristic of the PAM mechanism simultaneously improve tracking following characteristic.

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