@inproceedings{afabd54597fd4ecfab5c97f48bb94392,
title = "Design and control of robotic joint module driven by twisted and coiled actuators",
abstract = "Lightweight robots have been studied widely due to their safety and friendly interaction properties. There are lots of cable driven robots which have been proposed which show good application potential on service robots. Cable driven robot can only transmit force by the cables and the force transmission has only one direction, which increases its mechanical design complexity. The twisted-and-coiled artificial (TCA) muscles possess unique contraction properties that have advantages for researchers seeking to simplify the development of robots. However, twisted-and-coiled artificial muscles are greatly affected by its external disturbance and produce process, which makes it difficult to be controlled. In this paper, a robotic joint with two-degree-of-freedom module weighing 85.8g is designed driven by twisted-and-coiled artificial muscles. A Linear Active Disturbance Rejection Control (LADRC) method has been proposed for the driven artificial muscles position control. The experimental device has been setup and the control effect has been studied. The experiment results show a good control effect. The position error is less than 2% and the step response is within 13 seconds. This study validated that the TCA has strong possibility used for lightweight robot joint under the designed LADRC control method.",
keywords = "Artificial muscles, robot control, robotic joint module, twisted and coiled actuator",
author = "Haohao Zhang and Hao Zhang and Tianjiang Zheng and Wenjun Shen and Haotian Bai and Zaojun Fang",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023 ; Conference date: 18-08-2023 Through 22-08-2023",
year = "2023",
month = aug,
day = "18",
doi = "10.1109/iciea58696.2023.10241796",
language = "English",
series = "Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "7--12",
editor = "Wenjian Cai and Guilin Yang and Jun Qiu and Tingting Gao and Lijun Jiang and Tianjiang Zheng and Xinli Wang",
booktitle = "Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023",
address = "United States",
}