Modeling the Static Force of a Festo Pneumatic Muscle Actuator: A New Approach and a Comparison to Existing Models

dc.contributor.authorMartens, Mirco
dc.contributor.authorBoblan, Ivo
dc.date.accessioned2019-11-28T16:24:23Z
dc.date.available2019-11-28T16:24:23Z
dc.date.issued2017-11-02
dc.descriptionErratum published on 13 March 2018, see Actuators 2018, 7(1), 9. https://doi.org/10.3390/act7010009en
dc.description.abstractIn this paper, a new approach for modeling the static force characteristic of Festo pneumatic muscle actuators (PMAs) will be presented. The model is physically motivated and therefore gives a deeper understanding of the Festo PMA. After introducing the new model, it will be validated through a comparison to a measured force map of a Festo DMSP-10-250 and a DMSP-20-300, respectively. It will be shown that the error between the new model and the measured data is below 4.4% for the DMSP-10-250 and below 2.35% for the DMSP-20-300. In addition, the quality of the presented model will be compared to the quality of existing models by comparing the maximum error. It can be seen that the newly introduced model is closer to the measured force characteristic of a Festo PMA than any existing model.en
dc.description.sponsorshipBMWi, ZF4007503, Development of a PMA-driven Exoskeleton for the Upper Bodyen
dc.identifier.eissn2076-0825
dc.identifier.urihttps://depositonce.tu-berlin.de/handle/11303/10412
dc.identifier.urihttp://dx.doi.org/10.14279/depositonce-9364
dc.language.isoenen
dc.relation.issupplementedby10.3390/act7010009
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/en
dc.subject.ddc600 Technik, Technologiede
dc.subject.otherpneumatic muscle actuatoren
dc.subject.otherPMAen
dc.subject.otherpneumatic artificial muscleen
dc.subject.otherPAMen
dc.subject.otherpneumatic systemen
dc.subject.otherpneumatic roboten
dc.titleModeling the Static Force of a Festo Pneumatic Muscle Actuator: A New Approach and a Comparison to Existing Modelsen
dc.typeArticleen
dc.type.versionpublishedVersionen
dcterms.bibliographicCitation.articlenumber33en
dcterms.bibliographicCitation.doi10.3390/act6040033en
dcterms.bibliographicCitation.issue4en
dcterms.bibliographicCitation.journaltitleActuatorsen
dcterms.bibliographicCitation.originalpublishernameMDPIen
dcterms.bibliographicCitation.originalpublisherplaceBaselen
dcterms.bibliographicCitation.volume6en
tub.accessrights.dnbfreeen
tub.affiliationFak. 4 Elektrotechnik und Informatik>Inst. Energie- und Automatisierungstechnik>FG Regelungssystemede
tub.affiliation.facultyFak. 4 Elektrotechnik und Informatikde
tub.affiliation.groupFG Regelungssystemede
tub.affiliation.instituteInst. Energie- und Automatisierungstechnikde
tub.publisher.universityorinstitutionTechnische Universität Berlinen
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