Popovic, Marko B.
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.
Worcester Polytechnic Institute
Major Qualifying Project
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