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Mechatronics
journal homepage: www.elsevier.com/locate/mechatronics
School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan 430070, China
Department of Mechanical Engineering, The University of Auckland, Auckland 1142, New Zealand
a r t i c l e
i n f o
Article history:
Received 15 September 2014
Revised 13 March 2015
Accepted 27 April 2015
Available online 29 June 2015
Keywords:
Pneumatic articial muscle
Dynamic modeling
Hybrid approach
Articial neural network
Genetic algorithm
a b s t r a c t
Pneumatic Articial Muscle (PAM) actuator has been widely used in medical and rehabilitation robots,
owing to its high power-to-weight ratio and inherent safety characteristics. However, the PAM exhibits
highly non-linear and time variant behavior, due to compressibility of air, use of elastic-viscous material
as core tube and pantographic motion of the PAM outer sheath. It is difcult to obtain a precise model
using analytical modeling methods. This paper proposes a new Articial Neural Network (ANN) based
modeling approach for modeling PAM actuator. To obtain higher precision ANN model, three different
approaches, namely, Back Propagation (BP) algorithm, Genetic Algorithm (GA) approach and hybrid
approach combing BP algorithm with Modied Genetic Algorithm (MGA) are developed to optimize
ANN parameters. Results show that the ANN model using the GA approach outperforms the BP algorithm,
and the hybrid approach shows the best performance among the three approaches.
2015 Elsevier Ltd. All rights reserved.
1. Introduction
Pneumatic Articial Muscle (PAM) is a biomimetic device that
mimics the behavior of skeletal muscles. It exhibits forcelength
characteristics similar to that of a human muscle. PAM has simple
construction and consists of a rubber tube connected to pneumatic
valves at one end. The rubber tube is housed in a sheath made-up
of non-elastic and high-strength bers. The bers are arranged in a
rhomboidal fashion, which allows a dened contraction motion in
a longitudinal direction when the inner tube is inated which
results in shortening of the PAM. Consequently, force is exerted
by the PAM on the environment, attached at the other end, in
the axial direction. Compared to conventional actuators such as
electric and hydraulic actuators, PAM draws certain advantages
such as high power-to-weight and high power-to-volume ratios,
low maintenance, low price, cleanliness, compliance, pliability,
inherent safety, and applicability in rough environments. Air compressibility and elasticity of inner tube also plays cushioning role
against unpredictable impacts. Owing to these advantages, PAM
is considered an attractive and safe actuator to use in devices operating in human proximity compared to electric or hydraulic
actuators.
Corresponding author. Tel.: +86 13437161368.
E-mail address: song_chsh@163.com (C. Song).
http://dx.doi.org/10.1016/j.mechatronics.2015.04.021
0957-4158/ 2015 Elsevier Ltd. All rights reserved.
125
where k L=L0 , and L0, D0 are the initial length and the diameter of
the tube respectively, h is the initial pitch angle of the braid.
However, since the tube shape is not perfectly cylindrical when
pressurized and large hysteresis is present in PAM, above models
cannot be used in their present form, instead improved model has
been built to compensate these variations. However, the model
parameters are difcult to obtain because of the inuence of uncertain factors, such as time-variety, nonlinearity and environment.
In order to construct a neural network based model of PAM,
training data is required to be obtained. The experimental set up
used for this purpose shown in Fig. 1.
Tests are conducted on a single PAM which is placed in a rigid
hanger as shown in Fig. 1(a). Linear position sensor is positioned
parallel to the PAM to record instantaneous length of PAM. A
FUTEK load cell is connected to the PAM and used to measure
the force dynamically.
Pneumatic muscle is inated by connecting it to the pressure
supply from a compressor. The supply pressure was xed at
2 bar and two Isonic pressure regulating valves are used to control
pressure inside the PAM. These valves are capable to provide a
switching frequency of 10 ms and are used to ll, leave inated
and empty the PAM actuator.
As shown in Fig. 1(b), a dSPACE (DS1104) data processing system is used to provide interface to a PC allowing MATLAB and
Simulink programs to be used. The dSPACE has a number of
Input/Output (I/O) capabilities including serial, analogue, and digital, which are used to read data from various sensors and generator control signals. The PAM is controlled by compiling a Simulink
model and downloading it to the DS1104 through the I/O interface.
The dSPACE is connected to PC through RS-232 serial port.
Under different loads and different pressures, the experimental
data are received through serial port from various sensors. The
actual behaviors of the PAM obtained from the experiment setup
is shown in Figs. 2 and 3. Results from the experiments (Fig. 2)
show that the characteristic between length and pressure of PMA
is non-linear. The variable external loading on the PAM also affects
the characteristic considerably. Moreover, from Fig. 3, the plot is
some of different while inating or deating the PAM and a lager
hysteresis exists.
ANN is usually used to model complex relationships between
inputs and outputs or to nd patterns in data. Therefore, in this
paper, a multilayered feed forward ANN is being proposed to
model PAM.
126
Fig. 1. Experiment setup for a PAM using in an ankle rehabilitation robot. (a) Experiment setup for single PAM. (b) Overall structure of the system.
are shown by bi
127
w12
w13
w14
w21
w22
w23
w24
w31
w32
w33
w34
w41
w42
w43
1
w51
1
w52
1
w53
1
w53
1
w54
1
b1
1
b2
1
b3
1
b4
1
b5
2
w1
2
w2
2
w3
2
w4
2
b1
F 1=1 T
T
T
X
X
2
2
ek
yd k ya k
k1
k1
w44
ANN model actual output values as shown by Eq. (4), it can be written as:
ya f 2
5
X
i1
2
wi
f1
4
X
1
wij
xj
1
bi
!!
!
2
j1
128
which obtained from sensors are divided equally into three parts;
one part is used for training the ANN model and the remaining
parts are used for validation and testing.
The ANN for PAM modeling has been discussed in Section 3. To
provide accuracy model of PAM, three approaches, namely, the BP,
the GA and the hybrid approach are used to train the ANN model
using the training experiment data respectively.
Firstly, the adaptive learning rate BP algorithm is used to train
the ANN model. After 30,000 iterations, results from the training
data show that the MSE to predict pressure inside of the PAM is
found to be 0.0020 bars and the maximum deviation is 11.30% as
shown in Fig. 6. However, from the discussion provided in
Section, we know the error in pressure has an import inuence
on the PAM characteristic and then may affect the control performance of PAM. To investigate whether the BP algorithm has converged at a local optimal solution and there exists a better
solution, the GA approach is used to train the ANN model with
the same training data as BP algorithm. The initial population of
GA is 100. The crossover rate of GA is 0.85 and mutation rate of
GA is 0.08. After around 100 epochs, the MSE and maximum deviation are 0.0011% and 5.96% respectively as shown in Fig. 6. Finally,
the hybrid approach is used to train the ANN model, after only 40
epochs of MGA and 3000 iterations of BP discussed in Section 4, the
MSE and maximum deviation are only 4.9725e05 bar and 2.5%.
129
Fig. 6. Prediction errors in pressure (Training Data), using three training approaches.
Table 2
Variables values of trained ANN model using BP algorithm.
Variables
Values
Variables
Values
Variables
Values
Variables
Values
w12
8.9996
w33
2.2143
w54
18.0255
w4
0.2121
w11
1.8865
w32
30.2450
w53
1.3906
w3
0.5498
w13
0.6904
w14
94.4721
w34
33.3589
b1
2.1277
w41
9.0617
w5
0.0683
w21
0.8834
w42
15.7800
b2
0.0984
w22
35.2783
w43
3.8057
w23
1.1611
w44
7.8467
b3
1.9565
w24
58.2131
w51
9.1710
b4
4.0210
b5
0.8115
w31
6.7941
w52
26.0014
w2
0.6225
w1
0.3112
b1
1.2638
Table 3
Variables values of trained ANN model using GA approach.
Variables
Values
Variables
Values
Variables
Values
w12
1.2597
w41
1.3205
w11
0.9991
w34
1.5959
1
b3
0.9390
w13
0.6889
w42
0.7246
b4
1.2309
w14
1.7253
w43
0.8699
b5
1.7410
w21
0.1098
w44
1.0578
w2
1.1059
w1
0.6087
w22
0.5190
w23
0.7927
w51
0.9073
w3
0.0900
w24
0.6427
w52
1.4820
w31
0.5095
w53
0.8407
w4
0.8914
w5
1.0290
w24
0.8425
w53
1.1139
w5
0.0118
w32
1.7005
w54
0.3324
b1
0.0004
b1
0.9429
b2
0.3191
w33
0.8234
w33
1.4898
1
Table 4
Variables values of trained ANN model using hybrid approach.
Variables
Values
Variables
Values
Variables
Values
w12
0.2627
w41
1.0881
w11
0.0586
w34
1.3249
1
b3
0.0096
w13
1.6091
w42
0.2467
b4
0.0338
w14
0.0518
w43
0.9576
b5
1.2911
w21
1.1907
w44
0.1673
w2
0.0152
w1
1.1343
w22
0.3147
w23
1.3745
w51
1.0797
w52
0.9960
w3
0.0713
w4
1.0319
w31
0.0001
w32
0.0000
w54
0.8296
b1
1.2710
b1
1.2419
b2
1.3957
130
Fig. 8. Prediction errors in pressure (Test Data), using three training approaches.
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Acknowledgment
[19]
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References
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