Faculty Advisor

Looft, Fred J.

Faculty Advisor

Popovic, Marko B.

Abstract

Hydro-muscles are hydraulically powered actuators that share similar properties with biological muscles. The action of a hydro-muscle can be controlled by outfitting it with sensors to measure length and internal pressure. The data from the sensors is used to implement proportional integral derivative (PID) control of a flow control valve for precise length and force control. Different sensor configurations are investigated and compared to determine what produces the sufficiently accurate readings while still being low cost. It was found that position and force control of hydro-muscles is feasible with sensors attached to the muscles. An application of controlled hydro-muscles is implemented in the form of a teleoperable elbow brace.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2015

Major

Electrical and Computer Engineering

Major

Robotics Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Electrical and Computer Engineering

Advisor Department

Physics

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