Research article summary:

Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations.

Abstract Extract:
Adaptive tracking techniques are applied to pneumatic muscle actuators arranged in bicep and tricep configurations. The control objective is to force the joint angle to track a specified reference path. Mathematical models are derived for the bicep and ... (Full abstract text below)

Published 2003Sep in Journal: IEEE Trans Neural Syst Rehabil Eng (Language : eng)

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1. IEEE Trans Neural Syst Rehabil Eng. 2003 Sep;11(3):333-9

Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations.

Lilly JH

Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY 40292, USA. jlilly@louisville.edu

Adaptive tracking techniques are applied to pneumatic muscle actuators arranged in bicep and tricep configurations. The control objective is to force the joint angle to track a specified reference path. Mathematical models are derived for the bicep and tricep configurations. The models are nonlinear and in general time-varying, making adaptive control desirable. Stability results are derived, and the results of simulation studies are presented, contrasting the nonlinear adaptive control to a nonadaptive PID control approach.

PMID : 14518798 [PubMed - Indexed for MEDLINE]

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Full Author Information

First Name	LastName	Initials
John H	Lilly	JH

Affiliation: Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY 40292, USA. jlilly@louisville.edu

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Keywords in this article:

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