Braided pneumatic actuators (BPAs) have become a useful resource in the field of biomimetic robotics. Despite being difficult to control, the force-length and force-velocity characteristics present in this soft actuator offer an opportunity for a more biologically-oriented form of control. In addition, BPAs can be activated in pulses, making them yet more similar to biological muscle. However, braided pneumatic actuators could be limited not only by the complexity of control required to operate them, but also by hardware inherent to their system. Specifically, the valves which send compressed air to this biologically-similar muscle lose their ability to close at high spike frequencies, resulting in force saturation in the braided pneumatic actuators at high activation levels. We desired to determine whether these theoretical valve limitations pose an effect on the force output of the BPA. To do this, we generated pulse trains of varying inter-spike interval by injecting current into a spiking neuron simulated in SNS-Toolbox. These pulses were tested on two valve types to verify that a wide range of mean forces can be achieved in BPAs using spike activations. In addition, to test whether the activation curve could be modulated up to the saturation force in the muscle, a noise model was implemented in the spiking neuron that generated noisy spikes of activation in the BPA.

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Spike Activations: A Method to Produce a Continuum of Mean Forces in BPAs

  • Jack Lutz,
  • Mohammad Elzein,
  • Mark Pupkiewicz,
  • Alex Hunt

摘要

Braided pneumatic actuators (BPAs) have become a useful resource in the field of biomimetic robotics. Despite being difficult to control, the force-length and force-velocity characteristics present in this soft actuator offer an opportunity for a more biologically-oriented form of control. In addition, BPAs can be activated in pulses, making them yet more similar to biological muscle. However, braided pneumatic actuators could be limited not only by the complexity of control required to operate them, but also by hardware inherent to their system. Specifically, the valves which send compressed air to this biologically-similar muscle lose their ability to close at high spike frequencies, resulting in force saturation in the braided pneumatic actuators at high activation levels. We desired to determine whether these theoretical valve limitations pose an effect on the force output of the BPA. To do this, we generated pulse trains of varying inter-spike interval by injecting current into a spiking neuron simulated in SNS-Toolbox. These pulses were tested on two valve types to verify that a wide range of mean forces can be achieved in BPAs using spike activations. In addition, to test whether the activation curve could be modulated up to the saturation force in the muscle, a noise model was implemented in the spiking neuron that generated noisy spikes of activation in the BPA.