TY - GEN
T1 - Development of Pressure Intensifier for Water Hydraulic McKibben Muscles
AU - Kobayashi, Wataru
AU - Dohta, Shujiro
AU - Akagi, Tetsuya
AU - Ito, Kazuhisa
AU - Harada, Shota
PY - 2016/7/2
Y1 - 2016/7/2
N2 - In rehabilitation field, clean actuators driven by water are required. In particular, water hydraulic McKibben muscles receive remarkable publicity. However, pressure level of tap-water in Japan is not sufficient to drive the actuators. To overcome the problem, a novel pressure intensifier for water hydraulic McKibben muscles is developed. The intensifier is driven by only tap-water and its working principle is based on the difference of pressure receiving area. It consists of six syringes and then four of them are used in inlet side and the others are used in outlet side to make pressure receiving area of inlet side double. In this paper, some static and dynamic experiments for a muscle displacement control system are carried out: 1) to examine a muscle displacement - supply pressure characteristics and a rated intensified pressure of the proposed intensifier as static characteristics, and 2) to investigate a frequency response of the intensifier and a control performance of the whole system as dynamic characteristics. In addition, these characteristics are also examined under some loaded conditions because the characteristics of McKibben muscles is drastically changed by loads connected to the end of the muscles.
AB - In rehabilitation field, clean actuators driven by water are required. In particular, water hydraulic McKibben muscles receive remarkable publicity. However, pressure level of tap-water in Japan is not sufficient to drive the actuators. To overcome the problem, a novel pressure intensifier for water hydraulic McKibben muscles is developed. The intensifier is driven by only tap-water and its working principle is based on the difference of pressure receiving area. It consists of six syringes and then four of them are used in inlet side and the others are used in outlet side to make pressure receiving area of inlet side double. In this paper, some static and dynamic experiments for a muscle displacement control system are carried out: 1) to examine a muscle displacement - supply pressure characteristics and a rated intensified pressure of the proposed intensifier as static characteristics, and 2) to investigate a frequency response of the intensifier and a control performance of the whole system as dynamic characteristics. In addition, these characteristics are also examined under some loaded conditions because the characteristics of McKibben muscles is drastically changed by loads connected to the end of the muscles.
KW - McKibben muscle
KW - pressure intensifier
KW - tap-water
KW - water hydraulics
UR - http://www.scopus.com/inward/record.url?scp=85022180863&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85022180863&partnerID=8YFLogxK
U2 - 10.1109/ICMSSP.2016.029
DO - 10.1109/ICMSSP.2016.029
M3 - Conference contribution
AN - SCOPUS:85022180863
T3 - Proceedings - 2016 International Conference on Multimedia Systems and Signal Processing, ICMSSP 2016
SP - 95
EP - 99
BT - Proceedings - 2016 International Conference on Multimedia Systems and Signal Processing, ICMSSP 2016
A2 - Chang, Chin-Chen
A2 - Pan, Jeng-Shyang
A2 - Hou, Young-Chang
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 International Conference on Multimedia Systems and Signal Processing, ICMSSP 2016
Y2 - 3 September 2016 through 5 September 2016
ER -