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dc.contributor.authorKelly, Kevinen
dc.contributor.authorMc Ginn, Conoren
dc.contributor.authorCULLINAN, MICHAELen
dc.date.accessioned2019-08-07T14:50:53Z
dc.date.available2019-08-07T14:50:53Z
dc.date.createdMay 20-24, 2019en
dc.date.issued2019en
dc.date.submitted2019en
dc.identifier.citationMichael F. Cullinan, Conor McGinn, and Kevin Kelly, Sleeve Pneumatic Artificial Muscles for Antagonistically Actuated Joints, IEEE Transactions, 2019 International Conference on Robotics and Automation (ICRA), Palais des congres de Montreal, Montreal, Canada, May 20-24, 2019, 2019, 8360 - 8366en
dc.identifier.otherYen
dc.identifier.urihttp://hdl.handle.net/2262/89161
dc.descriptionPUBLISHEDen
dc.descriptionPalais des congres de Montreal, Montreal, Canadaen
dc.description.abstractPneumatic artificial muscles (PAMs) have been researched for applications in powered exoskeletons, orthosis and robotics. Their high force to mass ratio, low cost and inherent compliance are particularly advantageous for systems requiring physical interaction with humans. Sleeve PAMs, which introduce an internal structure to the actuator, offer improved force capacity, contraction ratio, efficiency and operating bandwidth. In this paper sleeve PAMs are applied to a popular muscle configuration; that of a joint operated antagonistically by two muscles. It is shown that the sleeve PAM can increases the range of joint rotation by 14% or load capacity by over 50% of that of a comparable joint actuated with traditional PAMs, depending on the joint configuration.The stiffness of joints actuated with both PAM types is also studied, particularly the case of closed system operation (mass of air in the PAMs is constant), where the reduced volume of the sleeve PAM significantly increases the observed stiffness. Finally energy consumption is considered, showing substantial savings in the case of joints actuated with sleeve PAMs.en
dc.format.extent8360en
dc.format.extent8366en
dc.language.isoenen
dc.rightsYen
dc.subjectRoboticsen
dc.subjectPneumatic artificial musclesen
dc.subjectPAMsen
dc.subjectExoskeletonsen
dc.subjectOrthosisen
dc.subjectJointsen
dc.titleSleeve Pneumatic Artificial Muscles for Antagonistically Actuated Jointsen
dc.title.alternativeIEEE Transactionsen
dc.title.alternative2019 International Conference on Robotics and Automation (ICRA)en
dc.typeConference Paperen
dc.type.supercollectionscholarly_publicationsen
dc.type.supercollectionrefereed_publicationsen
dc.identifier.peoplefinderurlhttp://people.tcd.ie/kekellyen
dc.identifier.peoplefinderurlhttp://people.tcd.ie/mcginncoen
dc.identifier.peoplefinderurlhttp://people.tcd.ie/cullinmfen
dc.identifier.rssinternalid205932en
dc.rights.ecaccessrightsopenAccess
dc.identifier.handlehttp://hdl.handle.net/2262/89161en
dc.subject.TCDThemeAgeingen
dc.identifier.rssurihttp://hdl.handle.net/2262/89161en
dc.identifier.orcid_id0000-0003-2939-2274en
dc.status.accessibleNen


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