Patent ID: 8862270
Filing Date: 2014-10-14
Classification: B25J,F15B,G05B,Y10S

Abstract:
1. A control apparatus for a pneumatic artificial muscle drive mechanism driven by a pneumatic artificial muscle, the control apparatus comprising: a desired pressure calculator that calculates, based on a pneumatic artificial muscle model, a desired pressure of the pneumatic artificial muscle in order to control motion of the drive mechanism; a pneumatic artificial muscle model error estimator that estimates aging variation in a contraction percentage error between the pneumatic artificial muscle and the pneumatic artificial muscle model; a pressure controller that controls pressure of the pneumatic artificial muscle based on information from the desired pressure calculator or information from the pneumatic artificial muscle model error estimator; and a pneumatic artificial muscle model updater that updates the pneumatic artificial muscle model so as to reflect the aging variation based on an estimation result of the pneumatic artificial muscle model error estimator.