Control apparatus, control method, and control program for pneumatic artificial muscle drive mechanism
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United States of America Patent
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Oct 14, 2014
Grant Date -
Nov 28, 2013
app pub date -
Jul 30, 2013
filing date -
Aug 12, 2011
priority date (Note) -
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Abstract
There is provided a control apparatus for a drive mechanism driven by a pneumatic artificial muscle, the control apparatus including a pressure controller that controls pressure of the pneumatic artificial muscle, 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 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, and a lifetime predictor that predicts a lifetime of the pneumatic artificial muscle based on the estimation result of the pneumatic artificial muscle model error estimator.
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