Dynamic Modelling and Identification of a Soft Bending Pneumatic Actuator Based on Visual Recognition

Compared with traditional exoskeleton actuated by electric motor or hydraulic cylinder, the soft pneumatic actuator has advantages of being safe, small, lightweight and compliant. Meanwhile, considering actions like twist, rotation and curving can be achieved by soft pneumatic actuators, these actuators show great potentials in prosthetics, rehabilitation and surgery applications. However, the precise control of this kind of actuator has been an obstacle for further applications due to its complicated dynamic characteristics and hysteresis characteristics. This paper presents the fabrication of a bending pneumatic actuator (BPA) for power assist and rehabilitation. The dynamic model of the BPA was described by a differential equation. Based on a visual feedback system, the parameters of the dynamic model were identified. Then experiments were conducted to verify the model of the bending actuator.

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