45 results about "Pneumatic artificial muscles" patented technology

The invention provides a double-pneumatic artificial muscle control method and system with overshoot constraint, and relates to the technical field of robot control. Comprising the following steps: defining error signals of a forearm muscle length, an upper arm muscle length, a shoulder joint angle and an elbow joint angle based on a dynamic model of a double-pneumatic artificial muscle system, and constructing an error signal convergence constraint term and an overshoot range constraint term; determining an energy function of the double-pneumatic artificial muscle system; based on a kinetic model and an energy function of the double-pneumatic artificial muscle system, considering the error signal convergence constraint term and the overshoot range constraint term, and designing a controller to control the forearm control input air pressure and the upper arm control input air pressure of the double-pneumatic artificial muscle system. According to the method, the error signal convergence constraint term and the overshoot range constraint term are considered, the overshoot of the system state variable is controlled within the safety constraint range, the overshoot phenomenon is avoided, and the safety performance of the system is improved.

This invention belongs to the field of robot control and provides a control method and system for a pneumatic artificial muscle parallel robot based on hysteresis compensation. The control method includes: constructing a dynamic model of the pneumatic artificial muscle parallel robot based on its state information; constructing a fractional-order Bouc-Wen hysteresis model and its corresponding inverse model based on the dynamic model; performing hysteresis feedforward compensation based on the fractional-order Bouc-Wen hysteresis model and its corresponding inverse model; and constructing an output feedback synchronization controller by combining a pre-designed tracking error, synchronization error, coupling error, and velocity estimation system to act on the pneumatic artificial muscle parallel robot, thereby achieving rapid and accurate tracking of a smooth reference trajectory by the active arm.

The invention discloses a pneumatic artificial muscle driven soft rehabilitation glove, and belongs to the technical field of rehabilitation medical instruments, the pneumatic artificial muscle driven soft rehabilitation glove comprises a glove, driving assemblies and an air path conversion base, the glove comprises a finger sleeve, a phalanx sleeve and a palm sleeve, one end of a stretching tendon rope located on the hand back side is connected with the finger sleeve, the phalanx sleeve and the palm sleeve, and the other end of the stretching tendon rope is connected with one driving assembly; one end of the bent tendon rope located on the palm side is also connected with the fingerstall, the phalanx sleeve and the palm sleeve, the other end of the bent tendon rope located on the palm side is also connected with the other driving assembly, the two driving assemblies are connected with the two air path conversion bases respectively, the two air path conversion bases are connected through a bandage buckle, and the two air path conversion bases sleeve and are locked at the positions of the arms of the human body. The technical problems that an existing rehabilitation glove is high in structural rigidity and poor in wearing comfort, the maintenance cost is high due to an integrated structure, and motion antagonism and joint motion range limitation are generated due to lack of passive ductility of artificial muscles can be solved.

This application provides a preset performance dynamic surface trajectory tracking control method for a robotic arm system. The method includes the following steps: Step 1, analyzing the total kinetic and potential energy of the robotic arm system using the Lagrange formula, and solving for the control torque using a pneumatic artificial muscle mechanics model and rotational laws to establish a dynamic model of the robotic arm system; Step 2, designing a fixed-time disturbance observer to monitor the total disturbance of the system in real time, addressing the strong nonlinearity and joint coupling and frictional disturbance problems of the robotic arm system; Step 3, designing a preset performance fixed-time dynamic surface controller to compensate for the total disturbance of the system in real time, and designing a control law to enable the angular positions of each joint of the robotic arm system to quickly track the desired target trajectory signal within the allowable error range, thereby achieving the preset transient and steady-state performance constraints within a fixed time and ensuring that all signals of the multi-joint pneumatic robotic arm closed-loop system are bounded.

The application relates to the technical field of automobile safety belts and discloses an automobile safety belt pre-winding and pre-tightening system based on pneumatic artificial muscles, which comprises an automobile seat, a three-point safety belt assembly, a pre-winding and pre-tightening execution assembly and a pre-winding and pre-tightening controller. The three-point safety belt assembly comprises a winder, a safety belt guide, a safety belt, a pluggable lock and an unpluggable lock. The winder is fixed to the automobile seat or the vehicle body, and the safety belt guide is fixed to the vehicle body B column. The automobile safety belt pre-winding and pre-tightening system based on pneumatic artificial muscles and the control method are characterized in that a split two-way design is adopted, a pre-tightening pneumatic artificial muscle is used to replace a traditional pyrotechnic pre-tightening mechanism, a pre-winding pneumatic artificial muscle is used to replace a motor pre-winding mechanism, the pre-winding and pre-tightening functions are completely separated from the winder, the winder only retains basic force limiting and locking functions, and the system structure is greatly simplified, so that the overall weight, volume and vehicle manufacturing cost are reduced.

The invention relates to a three-dimensional hysteresis modeling method for pneumatic artificial muscle input-displacement-force coupling, which comprises the following steps of: disassembling a modeling process into a superposition form of two forces, respectively modeling in two stages, then superposing models of two parts according to an analysis process of the forces, and finally systematically forming a three-dimensional hysteresis model. The three-dimensional hysteresis model is a model of output force, which means that the model not only can capture the input-displacement-force three-dimensional hysteresis characteristic of the pneumatic artificial muscle, but also can estimate the output force of the pneumatic artificial muscle, and a model which does not need a black box method and has a clear mathematical formula is established. This is the core of the method provided by the invention.

The application discloses a self-growing robot and an environment exploration method thereof, and comprises a driving storage mechanism, a plastic film body, a flexible sensing unit, a signal receiving module, pneumatic artificial muscles arranged on the inner wall of the plastic film body and a terminal guiding sensing mechanism; the flexible sensing unit is attached to the surface of the plastic film body, the sensing unit is designed in an array mode, the detection of obstacles in the environment is realized while the flexibility is ensured, the terminal guiding sensing mechanism is used for sensing the posture of the robot, and the information of the proximity sensor, the encoder and the gyroscope can be combined to realize navigation in the unknown environment; in addition, the pre-bending is set according to the environment obstacle information, the robot growth is guided by the environment obstacles, the pneumatic artificial muscles can cover a larger area, the proximity sensor is used to detect the corner points in the environment, and the depth-first strategy is adopted to explore the environment, so that a higher environment exploration rate can be realized in a smaller number of exploration times.

The application provides a nested vacuum-driven tension-enhanced pneumatic artificial muscle and relates to the technical field of flexible actuators.The nested vacuum-driven tension-enhanced pneumatic artificial muscle comprises a negative pressure collapse driving module and a positive pressure expansion and collapse driving module, has a first cavity and a gas extraction hole structure; the positive pressure expansion and collapse driving module has a second cavity and a gas passage hole structure, the second cavity is communicated with the external atmosphere through the gas passage hole structure; the positive pressure expansion and collapse driving module is embedded in the first cavity, and the axial ends of the positive pressure expansion and collapse driving module are fixedly installed with the negative pressure collapse driving module, respectively, a gas cavity is formed between the positive pressure expansion and collapse driving module and the negative pressure collapse driving module, and the gas cavity is communicated with a vacuum pump through the gas extraction hole structure; the vacuum pump extracts gas from the gas cavity through the gas extraction hole structure, so that the negative pressure collapse driving module is contracted along the axial direction of the negative pressure collapse driving module and the positive pressure expansion and collapse driving module is expanded along the radial direction of the positive pressure expansion and collapse driving module and is contracted along the axial direction of the positive pressure expansion and collapse driving module; and the application can improve the output force of the pneumatic artificial muscle.

According to the pneumatic artificial muscle based on the annular air bag, an air bag assembly comprises the annular air bag, a wiring device and a silk thread, a plurality of L-shaped through holes are formed in the wiring device, one end of each L-shaped through hole faces the inner circumferential direction of the annular air bag in the radial direction of the annular air bag, and the other end of each L-shaped through hole faces the terminal direction in the axial direction of the annular air bag; the silk thread penetrates through the L-shaped through hole, one end of the silk thread is arranged on the inner circumferential surface of the annular air bag, and the other end of the silk thread is connected with the terminal or connected with the silk thread of the adjacent air bag assembly; the outer protection film is arranged on the outer sides of the multiple air bag assemblies in a sleeving mode, terminals are arranged at the two ends of the outer protection film correspondingly, and connecting pieces are arranged on the terminals. Through the cooperation of the annular air bag and the wiring device, the change of the radial distance of the annular air bag is converted into the change of the axial distance of the terminal, that is, the change of the radius of the inner ring of the annular air bag is converted into the change of the telescopic length of the artificial muscle, the shrinkage rate is greatly improved, the shrinkage rate reaches 70% in reality, and the device has the advantages of being simple in structure, efficient and convenient.

The invention provides a multi-joint cooperative motion control method and system of a humanoid robot, and relates to the technical field of robot control, the gait phase data of the humanoid robot in different motion states are obtained, and the motion states comprise the walking state, the running state and the sudden stop state; according to the gait phase data, generating a gait phase migration matrix so as to determine a motion mode switching point, further determining a hysteresis compensation opportunity of the pneumatic artificial muscle, and performing hysteresis compensation processing on the pneumatic artificial muscle of each lower limb joint of the humanoid robot so as to obtain a joint motion state; analyzing an angle change rate and a motion acceleration parameter in the joint motion state, and generating a biological heuristic electric signal; according to the joint cooperation angle threshold value and the motion triggering moment of the biological heuristic electric signal, all the lower limb joints of the humanoid robot are driven to conduct cooperative motion, so that seamless switching of multi-mode motion is achieved, and the motion flexibility and stability are improved.

This invention discloses a micro-pneumatic artificial muscle based on a phase transition hydrogel actuator, its preparation method, and its application, belonging to the field of polymer functional materials technology. The method includes the following steps: (1) using octyl acrylate and acrylamide as monomers, dissolving the monomers, β-cyclodextrin, and crosslinking agent in a dimethylformamide dispersion of sea squirt cellulose nanocrystals, followed by the addition of a photoinitiator to obtain a prepolymer; the prepolymer is then photocured and solvent-replaced to obtain a tubular hydrogel; (2) connecting one end of the tubular hydrogel to an air cavity and sealing the other end to obtain a micro-pneumatic artificial muscle based on a phase transition hydrogel actuator. This method has the advantages of convenient processing, mild reaction, and readily available materials. The micro-pneumatic artificial muscle prepared by this method has adjustable mechanical properties independent of water permeability and fast driving speed, and has broad application prospects in miniaturized biomimetic soft robot devices.

The invention discloses a human body detection part appearance self-adaption fixing device for a nuclear magnetic resonance spectrometer, and relates to the field of medical instruments, the human body detection part appearance self-adaption fixing device comprises a flexible fixing cuff, cuff hook-and-loop fasteners, a rubber connecting pipe and a control host, the flexible fixing cuff is a core fixing part of the device, and the cuff hook-and-loop fasteners are arranged on the flexible fixing cuff. A plurality of inverse pneumatic artificial muscle natural latex rubber tubes are uniformly arranged at the inner cavity of the flexible fixed cuff at equal intervals, and are sleeved with inverse pneumatic artificial muscle constraint fibers; and a piezoelectric ceramic sensor is embedded between the lower-layer fabric of the flexible fixed cuff and the lower layer of the inflatable plastic plate. According to the invention, an independent inflatable IPAM array structure is adopted, a piezoelectric ceramic pressure feedback mechanism is combined, and the inflation state of each module is accurately controlled, so that flexible fitting and dynamic adaptation of human body detection parts with different sizes are realized; the problems of limb compression, unstable fixation, secondary injury and the like caused by'one-cutting 'type constraint in a traditional fixing mode are effectively solved.

The present invention relates to a flexible exoskeleton having a suit with one or more pneumatic artificial muscles, wherein the pneumatic artificial muscle comprises: a flexible membrane; internal rings spaced apart from one another and wrapped inside the flexible membrane; and external rings that are coupled to the internal rings from the outside of the flexible membrane. The rings and the clips may be manufactured, for example, by means of 3D printing and the membrane may be a thin plastic film or a fabric.

The invention discloses a beneficial disturbance perception-oriented pneumatic artificial muscle manipulator control method and system, and belongs to the technical field of pneumatic system control, and the method comprises the following steps: constructing a nonlinear kinetic model of a pneumatic artificial muscle manipulator system according to a three-element model of pneumatic artificial muscle and a kinetic equation of a manipulator, defining an angle error and an angular velocity error when the manipulator moves; a nonlinear controller based on beneficial disturbance perception is constructed by taking the control targets that the motion angle of the manipulator reaches an expected position and the tracking angle error converges to 0 and considering unknown dynamic state and external disturbance in the system; and according to the angle, obtained through actual measurement, of the manipulator during movement, the constructed nonlinear controller is used for determining the input air pressure of the pneumatic artificial muscle so as to drive the manipulator to move. Accurate and efficient angle tracking control of the manipulator under external disturbance can be achieved, and stable and efficient operation of the system is guaranteed.

The invention provides a nested vacuum driving tension-enhanced pneumatic artificial muscle, and relates to the technical field of flexible actuators, the nested vacuum driving tension-enhanced pneumatic artificial muscle comprises a negative pressure collapse driving module and a positive pressure expansion driving module, and is provided with a first cavity and an air exhaust hole structure; the positive pressure expansion and contraction driving module is provided with a second cavity and a vent hole structure, and the second cavity is communicated with the external atmosphere through the vent hole structure; the positive pressure expansion and contraction driving module is embedded in the first cavity, the two axial ends of the positive pressure expansion and contraction driving module and the negative pressure collapse driving module are fixedly installed, an air cavity is formed between the positive pressure expansion and contraction driving module and the negative pressure collapse driving module, and the air cavity communicates with a vacuum pump through an air exhaust hole structure; the vacuum pump exhausts air in the air cavity through the air exhaust hole structure, so that the negative pressure collapsing driving module shrinks in the axial direction of the negative pressure collapsing driving module and the positive pressure collapsing driving module expands in the radial direction and shrinks in the axial direction of the positive pressure collapsing driving module; the output acting force of the pneumatic artificial muscle can be improved.

The invention discloses a pneumatic artificial muscle biped walking control method and system based on imitation learning, and the method comprises the steps: firstly collecting the walking posture data of a human body, and generating an expert track based on a Mujoo simulation platform; then training a strategy model by using an imitation learning algorithm, deploying the strategy model to an embedded controller, sending an action instruction to a PLC (Programmable Logic Controller) based on an action strategy, analyzing the action instruction by the PLC, generating a PWM (Pulse-Width Modulation) signal, and controlling the inflating and deflating time sequence of the lower limb pneumatic artificial muscle group; finally, lower limb joint angle and air pressure data are fed back in real time through a sensor, the PWM duty ratio is adjusted in a closed-loop mode, and the walking posture is optimized. The simulation learning algorithm and pneumatic artificial muscle driving are combined, the human walking mode is mapped, more natural and more stable bionic walking is achieved, and meanwhile the integration level and expandability of the system are improved. A PWM dynamic air pressure distribution mode is adopted, redundant energy loss is reduced, and the response speed and the control precision of the system are improved.

The present invention relates to a pelvic clamping device using pneumatic variable-stiffness bone needles. The device comprises a pneumatic variable-stiffness module, an affected-side ball-hinged support module, and a healthy-side clamping module. The pneumatic variable-stiffness module is driven by pneumatic artificial muscles that are staggered horizontally and vertically. The stiffness of the bone needles is actively regulated by controlling the air pressure of the pneumatic artificial muscles, thereby achieving stable clamping of the bone needles, improving intraoperative stress distribution, and avoiding uneven deformation or stress concentration between the two bone needles during surgery. The affected-side ball-hinged support module adopts a ball-hinged structure for connection to the pneumatic variable-stiffness clamping module. The healthy-side clamping module is used to clamp the bone needles inserted into the healthy-side pelvis. The present invention has significant advantages such as a compact structure, convenient stiffness adjustment, stable clamping, and easy assembly and disassembly.

The application discloses a kind of multi-mode dynamic loading control system and control method for microgravity environment waist protection equipment, comprising: wearing module, loading module and control module;Wearing module includes shoulder strap, waistband and leg belt, for fixing system to human body trunk;Loading module includes four independently controlled pneumatic artificial muscles, the upper end of each pneumatic artificial muscle is connected with shoulder strap by connecting piece, and the lower end is connected with waistband by connecting piece;Control module includes micro air pump, proportional pressure valve, single-chip microcomputer and power supply;Micro air pump as gas source;Multiple proportional pressure valves, the number is same with the number of pneumatic artificial muscle, the gas inlet of each proportional pressure valve is communicated with the gas outlet of micro air pump, and the gas outlet of each proportional pressure valve is communicated with the gas inlet of a corresponding pneumatic artificial muscle;Proportional pressure valve is built-in with air pressure sensor, for real-time measurement output air pressure and generating feedback voltage signal;Single-chip microcomputer is electrically connected with micro air pump, the control end and feedback end of multiple proportional pressure valves.The application can meet the environment of space station light weight, low noise, high reliability requirement.

The present disclosure provides a chameleon-like self-growing throat swab sampling robot, comprising: a robot body, formed by pneumatic self-growth of flexible material, with an internal channel connected to the atmosphere formed therein, which grasps and releases the throat swab according to the change in the gripping length of the throat swab through this internal channel; a drive storage mechanism connected to the front end of the robot body, which is used to store the flexible material required for the growth of the robot body and provide power for its growth and recovery; a pneumatic artificial muscle located on the surface of the robot body, which is used to control the position of the robot end; and an end actuator located at the end of the robot body, which includes a recovery structure and a data acquisition module. The recovery structure guides the flexible material through rolling friction to assist in the recovery of the robot body. The present disclosure imitates the chameleon's "aim-launch-swallow-withdraw" hunting process and fully utilizes the flexibility and transmission characteristics of the self-growing robot to achieve rapid and safe collection of throat swabs.

The present application relates to the field of automated logistics equipment, in particular to a kind of material automated stacking device and method thereof;Including: the construction of the multi-field coupling end effector containing particle block layer and reverse prestressed air chamber;Flexible covering amorphous material is utilized by pneumatic artificial muscle;Rigid casting effect is generated by vacuumizing inner cavity and inflating outer cavity coupling, and the form of material is locked;High-speed trajectory conveying is executed, and release is completed based on the pulse airflow of pneumatic impedance feedback adjustment.This application effectively eliminates the internal rheology of soft packaging material, crosses uneven area through stiffness compensation mechanism, and solves the problem of sliding and stacking collapse caused by center of gravity change.

The present application relates to a kind of lumbar vertebrae power-assisted rehabilitation exoskeleton robot, comprising: variable stiffness pneumatic artificial muscle actuator and structure consistent upper waist adjustable restraint and lower waist adjustable restraint;Variable stiffness pneumatic artificial muscle actuator is connected between the upper waist adjustable restraint and lower waist adjustable restraint.This application adopts the driving mode of pneumatic, and the stiffness of actuator can be changed by inputting different size high-pressure gas into pneumatic artificial muscle actuator, and variable stiffness pneumatic artificial muscle actuator can have stretching function and contraction function, the combination of the two forces is the output force of the variable stiffness pneumatic artificial muscle actuator;Variable stiffness pneumatic artificial muscle actuator fitted on the two sides of human body can drive human body waist to bend to left and right sides rehabilitation power-assisted training, and variable stiffness pneumatic artificial muscle actuator on the back of human body can drive human body waist to bend forward and backward rehabilitation power-assisted training, and can play the role of supporting human waist.

The invention belongs to the technical field of robots, and provides a rigid-flexible coupling external muscle robot and an exercise training method.The rigid-flexible coupling external muscle robot comprises a binding device, a flexible external muscle driving system and a rigid supporting system; the binding device comprises flexible wearing assemblies fixed to the shoulders, the back and the abdomen of a user. The flexible external muscle driving system comprises pneumatic artificial muscle driving units, and the pneumatic artificial muscle driving units are connected to flexible wearing assemblies at different parts through anchor points so as to achieve forward flexion, dorsal flexion, lateral flexion and torsion of the trunk. The rigid supporting system is of a four-degree-of-freedom parallel passive rigid structure and provides passive damping changing along with the movement speed, and the rigid supporting system is located on the outer side of the flexible outer muscle driving system and connected to the flexible wearing assemblies at different parts through anchor points. The robot can conform to the natural motion curve of the human body, provides flexible assistance, can also provide necessary mechanical support and safety protection, and has the multi-degree-of-freedom training ability.

The application belongs to the technical field of soft robots, and relates to a composite variable-stiffness flexible mechanical arm, which comprises N composite variable-stiffness flexible joints; the composite variable-stiffness flexible joint comprises an upper fixed cover, a lower fixed cover, a plurality of groups of external artificial muscles between the upper fixed cover and the lower fixed cover, and a middle artificial muscle arranged at a central position, the external artificial muscle is a pneumatic artificial muscle; the middle artificial muscle comprises a muscle cylinder, the muscle cylinder is internally provided with a spiral carbon nanotube and a magneto-rheological fluid; both ends of the spiral carbon nanotube are connected with electrodes. The spiral carbon nanotube and the magneto-rheological fluid are integrated into the structure of the middle artificial muscle, when the spiral carbon nanotube is electrified, a magnetic field is generated, the magnetic field can directly change the stiffness of the internal magnetic fluid and the external magneto-rheological fluid of the spiral carbon nanotube, so that the complex motion of the mechanical arm is realized; the composite variable-stiffness flexible mechanical arm has good stability, light mass, and extremely high fatigue life; and the composite variable-stiffness flexible mechanical arm has high power and fast reaction speed.

The invention relates to a pneumatic artificial muscle nerve teaching model and system, which are combined with a pneumatic artificial muscle nerve teaching model technology and adopt an aluminum alloy frame and a 3D printing bone surface model to construct a limb structure. The system receives an instruction through the voice recognition module, the Arduino controller coordinates the LED lamp strip display system and the dual-motor driving system, and nerve conduction path visualization and joint precise control are achieved. Innovation points comprise multi-mode interaction, pathological phenomenon quantitative simulation (folding knife phenomenon / spasm / ankylosis), muscular tension grading and safety mechanism design. The application scene covers basic anatomy teaching, neuroscience learning, rehabilitation training and clinical skill assessment, supports Ashworth grading comparison and upper motor neuron injury simulation, improves teaching immersion and clinical association ability, and has the characteristics of modular design, convenience in maintenance and upgrading, safety and reliability.

The rigid-flexible coupling manipulator comprises two rigid-flexible mixed fingers and a finger connecting piece, each rigid-flexible mixed finger comprises a flexible pneumatic driver, an inner skeleton connecting rod mechanism, a quick response mechanism, a pneumatic artificial muscle driver and a self-locking mechanism, the flexible pneumatic driver is divided into a cavity layer and a silica gel entity layer, and the cavity layer is connected with the inner skeleton connecting rod mechanism. The pneumatic artificial muscle driver is composed of a pneumatic artificial muscle, a spring, a linear bearing and four pneumatic artificial muscle driver assemblies. Power of the pneumatic artificial muscle driver is transmitted to the inner skeleton connecting rod mechanism through a self-locking mechanism or a quick response mechanism, and when the inner skeleton connecting rod mechanism and the flexible pneumatic driver are independently activated or act synergistically, the two rigid-flexible mixed fingers have four grabbing modes through manual switching. According to the rigid-flexible coupling finger, the quick response of the pneumatic artificial muscle and the angular velocity amplification capability of the connecting rod mechanism are combined, and the rigid-flexible coupling finger can be bent to 145.14 degrees within 71 milliseconds.

Provided is a wrist-hand orthosis, which relates to the technical field of medical devices. The wrist-hand orthosis comprises a tensioning integrated finger sleeve, a pneumatic artificial muscle, and an inflation component. The tensioning integrated finger sleeve is capable of generating flexion / extension deformation by means of the contraction / extension of an elastic assembly on one side of a finger pulp. The pneumatic artificial muscle is arranged on one side of the finger pulp of the tensioning integrated finger sleeve. The pneumatic artificial muscle is in communication with the inflation component by means of an air guide tube. When a wrist joint performs a back extension action, the inflation component is driven to inflate, and the pneumatic artificial muscle inflates and contracts to drive a tensioning finger joint to flex. When the wrist joint performs a flexion action, the inflation component is driven to deflate, and the pneumatic artificial muscle deflates and extends to drive the tensioning finger joint to extend. The inflation component is suitable for being fixed on the back side of the wrist. The wrist-hand orthosis has the advantages of adjustable muscle strength, good adaptability, high patient activity, and the like. The wrist-hand orthosis has a good clinical effect of bidirectional assistance for finger flexion and extension, and thus is suitable for different stages of rehabilitation training requirements of stroke patients.

The invention discloses a soft pneumatic artificial muscle with a body motion state self-sensing function, and relates to the technical field of soft robots, the soft pneumatic artificial muscle comprises a silica gel sleeve, a strain detection element, an outer layer constraint net and a gas circuit connecting assembly. The middle shaft of the silica gel sleeve is a cylindrical cavity and is used as a carrier for inflation expansion; the irregular expansion deformation of the silica gel sleeve is converted into expected geometric change by the outer-layer constraint net; the gas circuit connecting assembly isolates inner and outer spaces to ensure the overall air tightness of the artificial muscle; the strain detection element is filled with a liquid conductive material, and deformation of the artificial muscle is converted into resistance response; the silica gel sleeve, the flexible substrate of the strain detection element and the top packaging layer are all made of flexible silica gel materials, and the overall flexibility of the artificial muscle is guaranteed. According to the invention, the strain detection element is introduced into the artificial muscle, so that the dependence on external sensing equipment is eliminated, the independent operation in a complex unknown environment can be realized, and the practical engineering application value of the soft robot technology is improved.

The invention relates to the technical field of medical rehabilitation robots, and discloses a wearable rigid-flexible coupling force feedback single-finger skeleton which comprises a protective shell, a micro air pump is arranged in the protective shell, a multi-channel electromagnetic valve is fixedly arranged at the output end of the micro air pump, and branch air pipes are fixedly arranged at the output end of the multi-channel electromagnetic valve. Limiting blocks are arranged on the outer walls of the branch air pipes, glove supports are fixedly connected to the outer walls of the limiting blocks, expansion woven mesh pipes are arranged on the outer walls of the glove supports, rubber air bags are arranged in the glove supports, and the branch air pipes penetrate through the expansion woven mesh pipes to be fixedly connected to the interiors of the rubber air bags. A rigid-flexible coupled mechanical structure is combined with pneumatic artificial muscles, under PWM linear control of a pressure regulation and control unit, anthropomorphic flexion and extension driving is achieved, an output force curve is made to be attached to the natural motion characteristic of a human body, meanwhile, the weight of the whole machine is reduced by 60% or above, and then the wearing comfort of a patient is remarkably improved.

The present invention discloses a negative pressure pneumatic artificial muscle driver with built-in pre-strain, which includes an extendable and deformable flexible cavity and a wire cage-shaped support structure arranged in the pre-stretched flexible cavity; the support structure includes at least three support plates with the same outer contour arranged in parallel from top to bottom, and several inextensible flexible wires are vertically connected between two adjacent support plates. The flexible wires are evenly distributed at equal intervals along the edge of the support plate to form a flexible wire group, thus forming a wire cage-shaped support structure; an air hole is opened at the center of the top support plate for negative pressure driving, and holes are opened in the middle of all intermediate support plates except the top support plate and the bottom support plate; the flexible cavity is cylindrical. After the flexible cavity is pre-stretched circumferentially until its inner diameter is equal to the outer diameter of the support structure, the support structure is placed in the flexible cavity, and then the flexible cavity is sealed to obtain the artificial muscle driver. The present invention solves the problems of uncertainty in the output characteristics and poor controllability of the negative pressure pneumatic artificial muscle driver.

The application discloses a kind of " artificial muscle " soft driver bionic control method based on pulse neural network, the method is with rough adjustment based on feedforward controller of rough inverse model, with fine adjustment based on cerebellum controller of pulse neural network, real-time compensation modeling uncertainty and environmental interaction uncertainty is realized through online learning method.The application uses representative " artificial muscle " soft driver-pneumatic artificial muscle, realizes a kind of pulse neural network that imitates mammal cerebellum neural working mechanism, realizes the efficient, robust, adaptive control for highly nonlinear, time-varying " artificial muscle " soft driver.