Biologically inspired control for artificial muscles

Robert C. Richardson, Kevin Watterson, Mike D. Brown, Martin C. Levesley, Jamie A. Hawkes, Peter G. Walker, Yoseph Bar-Cohen
2002 Smart Structures and Materials 2002: Electroactive Polymer Actuators and Devices (EAPAD)  
New actuator technologies are moving closer towards the creation of artificial muscles. For these muscles to behave in synergy with natural human muscle then they must be controlled in a similar manner. It has been postulated that the control of human motion is achieved through a force and position control strategy termed impedance control. An impedance controller has been developed for implementation on an ionic polymer-metal composite (IPMC actuator). The basis for this controller is a PID
more » ... ition controller that is demonstrated to accurately control the position response of the IPMC actuator. This position controller is extended to form an impedance controller with a force control loop and impedance filter. Inspite of identified non-linearities in the polymer force output during motion, the impedance controller has been successfully implemented demonstrating the controller design process and good performance of the control strategy.
doi:10.1117/12.475178 fatcat:a72mqxlk3fdj5a2h25izzo6tma