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A modified Prandtl–Ishlinskii hysteresis model with dead-zone operators for a novel pouch-type actuator

Published online by Cambridge University Press:  30 January 2025

Zhuo Ma Open the ORCID record for Zhuo Ma [Opens in a new window] ,
Yingxue Wang ,
Rencheng Zheng ,
Haitao Liu Open the ORCID record for Haitao Liu [Opens in a new window]  and
Jianbin Liu Open the ORCID record for Jianbin Liu [Opens in a new window]
Zhuo Ma
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
Yingxue Wang
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
Rencheng Zheng
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
Haitao Liu
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
Jianbin Liu*
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
*
Corresponding author: Jianbin Liu; Email: jianbin_liu@tju.edu.cn
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Abstract

Pouch-type actuators have recently garnered significant interest and are increasingly utilized in diverse fields, including soft wearable robotics and prosthetics. This is largely due to their lightweight, high output force, and low cost. However, the inherent hysteresis behavior markedly affects the stability and force control of pouch-type driven systems. This study proposes a modified generalized Prandtl–Ishlinskii (MGPI) model, which includes generalized play operators, the tangent envelope function, and one-sided dead-zone operators, to describe the asymmetric and non-convex hysteresis characteristics of pouch-type actuators. Compared to a classical Prandtl–Ishlinskii (PI) model incorporating one-sided dead-zone functions, the MGPI model exhibits smaller relative errors at six different air pressures, demonstrating its capability to accurately describe asymmetric and non-convex hysteresis curves. Subsequently, the MGPI hysteresis model is integrated with displacement sensing technology to establish a load compensation control system for maintaining human posture. Four healthy subjects are recruited to conduct a 1 kg load compensation test, achieving efficiencies of 85.84%, 84.92%, 83.63%, and 68.86%, respectively.

Keywords

force controlman–machine systemsrobot dynamicsmechatronic systemsexoskeletonscontrol of robotic systems

Information

Type
Research Article
Information
Robotica , Volume 43 , Issue 3 , March 2025 , pp. 909 - 925
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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