Accurate and versatile multivariable arbitrary piecewise model regression of nonlinear fluidic muscle behavior

A.J. Veale, Sheng Quan Xie, Iain Alexander Anderson

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    1 Citation (Scopus)

    Abstract

    Wearable exoskeletons and soft robots require actuators with muscle-like compliance. These actuators can benefit from the robust and effective interaction that biological muscles' compliance enables them to have in the uncertainty of the real world. Fluidic muscles are compliant but difficult to control due to their nonlinear behavior. Precise control of these actuators needs accurate models that readily capture this behavior. Here we present the multivariable arbitrary piecewise model regression (MAPMORE) algorithm for automatically creating accurate data-driven, behavior-based models for fluidic muscles. MAPMORE integrates an arbitrary term dictionary based orthogonal forward regression algorithm with piecewise function fusion. We modeled the static and hysteresis force components of a McKibben pneumatic artificial muscle (PAM) and a Peano muscle with MAPMORE, Sárosi's empirical model, and a polynomial model. In all cases, MAPMORE's models had the best mean accuracy of below 15N. This shows it to be an easy to use, accurate, and versatile soft fluidic actuator modeling tool.
    Original languageEnglish
    Title of host publication2017 IEEE International Conference on Mechatronics (ICM)
    PublisherIEEE
    Pages254-259
    Number of pages6
    ISBN (Electronic)978-1-5090-4538-9
    DOIs
    Publication statusPublished - 8 May 2017
    Event2017 IEEE International Conference on Mechatronics, IEEE-ICM 2017 - Federation University Australia Gippsland Campus, Gippsland, Australia
    Duration: 13 Feb 201715 Feb 2017
    http://ieee-icm2017.org/

    Conference

    Conference2017 IEEE International Conference on Mechatronics, IEEE-ICM 2017
    Abbreviated titleIEEE-ICM
    CountryAustralia
    CityGippsland
    Period13/02/1715/02/17
    Internet address

    Keywords

    • fluidic muscle
    • McKibben PAM
    • Peano muscle
    • MAPMORE
    • soft actuator
    • nonlinear behavior
    • modeling

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  • Cite this

    Veale, A. J., Xie, S. Q., & Anderson, I. A. (2017). Accurate and versatile multivariable arbitrary piecewise model regression of nonlinear fluidic muscle behavior. In 2017 IEEE International Conference on Mechatronics (ICM) (pp. 254-259). IEEE. https://doi.org/10.1109/ICMECH.2017.7921113