Veale, AJ, Xie, SQ and Anderson, IA (2018) Accurate multivariable arbitrary piecewise model regression of McKibben and Peano muscle static and damping force behavior. Smart Materials and Structures, 27 (10). 105048. ISSN 0964-1726
Abstract
Machines that efficiently and safely interact with the uncertainty of the natural world need actuators with the properties of living creatures' muscles. However, the inherent nonlinearity of the static and damping properties that the most promising of these muscle-like actuators have makes them difficult to control. Our ability to accurately control these actuators requires accurate models of their behavior. One muscle-like actuator for which no accurate models have been specifically developed is the Peano muscle. This paper presents and validates a model generation algorithm, multivariable arbitrary piecewise model regression (MAPMORE), that produces accurate models for predicting the static and damping force behavior of Peano muscles, as well as of the popular McKibben muscle. MAPMORE builds a training data processing, muscle-specific model term dictionary, and piecewise function fusion framework around Billings et al's forward regression orthogonal least squares estimator algorithm. We demonstrate that MAPMORE's static and damping force models have a normalized root mean square error (NRMSE) of 48%–88% of the NRMSE of the most accurate of Peano and McKibben muscles' existing models. The improved accuracy of MAPMORE's models for these artificial muscles potentially aids the muscles' ability to be accurately controlled and hence is a step towards enabling machines that interact with the real world. Further steps could be made by improving MAPMORE's accuracy through the addition of hysteresis operator and lagged terms in the damping force dictionary.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IOP Publishing Ltd. This is an author produced version of a paper published in Smart Materials and Structures. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | fluidic muscle; McKibben muscle; Peano muscle; MAPMORE; soft actuator; static and damping behavior; modeling |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) |
Funding Information: | Funder Grant number EPSRC GCRF_IS_2017 |
Depositing User: | Symplectic Publications |
Date Deposited: | 25 Oct 2018 08:26 |
Last Modified: | 21 Sep 2019 00:38 |
Status: | Published |
Publisher: | IOP Publishing |
Identification Number: | 10.1088/1361-665X/aadf41 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:137524 |