Dissertation
Design and control of artificial muscles for robotic applications
University of Iowa
Doctor of Philosophy (PhD), University of Iowa
Autumn 2024
DOI: 10.25820/etd.007599
Abstract
This dissertation presents the development of modeling and control architectures for innovative robotic devices powered by artificial muscles. It focuses on developing theoretical models to design and describe the behavior of artificial muscles—specifically twisted and coiled artificial muscles (TCAMs), twisted and spiraled artificial muscles (TSAMs), and NiTi shape memory alloy (SMA) muscles—and on implementing robust control algorithms for real-time applications. The research addresses various applications, including rehabilitation robotics, underwater exploration, and robotic surgery, by modeling, manufacturing, and testing a range of devices.
A physics-based theoretical model and an adaptive robust control architecture are proposed for actuating TCAMs, TSAMs, and SMA muscles. These models and controllers are experimentally validated through several practical applications: a soft exoskeleton for wrist rehabilitation, a variable stiffness Ankle-Foot Orthosis, a soft glove for hand rehabilitation, an octopus-inspired muscular hydrostat for underwater tasks, deployable vortex generators to enhance the aerodynamic performance of small unmanned aerial vehicles operating at low Reynolds numbers, and a surgical robot for paracentesis procedures. This work also includes developing simulation models, data acquisition frameworks, control hardware, and circuitry, which have contributed to numerous peer-reviewed journal publications.
The thesis is structured to provide a comprehensive overview of the theoretical models and control frameworks, their application in various robotic devices, and their experimental validation. It begins with developing a generalized physics-based model for TCAM actuation, followed by the design of an L1 adaptive control algorithm suitable for the highly nonlinear nature of TCAMs and SMA muscles. Subsequent chapters explore the applications of these models and control algorithms in rehabilitation robotics, underwater environments, and surgical robotics. The research demonstrates significant advancements in developing and controlling robotic devices powered by artificial muscles, highlighting their potential for broader adoption in diverse real-time applications.
Details
- Title: Subtitle
- Design and control of artificial muscles for robotic applications
- Creators
- Thilina Hemaka Weerakkody
- Contributors
- Caterina Lamuta (Advisor)Venanzio Cichella (Committee Member)Hiroyuki Sugiyama (Committee Member)Deema Totah (Committee Member)
- Resource Type
- Dissertation
- Degree Awarded
- Doctor of Philosophy (PhD), University of Iowa
- Degree in
- Mechanical Engineering
- Date degree season
- Autumn 2024
- DOI
- 10.25820/etd.007599
- Publisher
- University of Iowa
- Number of pages
- xxiv, 284 pages
- Copyright
- Copyright 2024 Thilina Hemaka Weerakkody
- Comment
- This thesis has been optimized for improved web viewing. If you require the original version, contact the University Archives at the University of Iowa: https://www.lib.uiowa.edu/sc/contact/
- Language
- English
- Date submitted
- 10/09/2024
- Description illustrations
- illustrations, tables, graphs
- Description bibliographic
- Includes bibliographical references (pages 243-284).
- Public Abstract (ETD)
- This dissertation explores the development of new robotic devices powered by artificial muscles, which are a novel type of actuator that mimics the function of biological muscles. Unlike tra- ditional motors, these artificial muscles can be lighter, more flexible, and capable of producing movement in a more natural and efficient way. The research focuses on creating both theoret- ical models and control systems that allow these muscles to function accurately and reliably in real-world applications. Artificial muscles, such as twisted and coiled artificial muscles (TCAMs), twisted and spi- raled artificial muscles (TSAMs), and shape memory alloys (SMAs), have been used in a range of innovative applications. These include wearable exoskeletons for rehabilitation, devices for robotic surgery, and underwater robots designed for exploration and environmental monitoring. The work presented in this dissertation involves designing, building, and testing these devices, as well as developing computer algorithms that control their movements in real-time. The findings of this research show that artificial muscles have significant potential to im- prove the design and functionality of robotic devices. By developing more responsive and adapt- able robots, this work could impact several fields, from healthcare and medical rehabilitation to environmental science and industrial automation.
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984774766802771
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