Kinematic Modeling, Dynamic Control, And Simulated Performance Of A 3-Degree-Of-Freedom Pneumatic Artificial Muscle-Driven Mechanism For Upper Extremity Prosthetics
Keywords:
Upper limb prosthesis, pneumatic artificial muscles (PAMs), 3-degrees-of-freedom, kinematic modeling, dynamic control, simulation, bio-inspired actuation, compliance, human-robot interactionAbstract
The development of advanced upper limb prostheses that offer both high dexterity and intuitive control remains a significant challenge in rehabilitation engineering. Traditional actuation methods often fall short in replicating the compliance, power-to-weight ratio, and inherent safety of biological muscles. This article conceptually explores the kinematic modeling, dynamic control, and simulated performance of a novel 3-degrees-of-freedom (3-DOF) mechanism actuated by Pneumatic Artificial Muscles (PAMs), specifically designed for upper extremity prosthetic applications. We propose a detailed mathematical model encompassing the kinematics of the mechanism, the non-linear force generation of PAMs, and the interaction dynamics. An adaptive control strategy, leveraging the inherent compliance of PAMs, is conceptually developed to achieve precise position and force control despite the actuators' non-linearities and hysteresis. Numerical simulations are presented to illustrate the mechanism's ability to achieve a wide range of motion, high force output, and robust trajectory tracking. The discussion highlights the potential of PAM-driven prostheses to offer more natural, compliant, and user-friendly solutions for individuals with upper limb deficiencies. This work provides a foundational framework for the design and realization of next-generation bio-inspired prosthetic devices.
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