Work

Design and control of artificial muscles for robotic applications

Year: 2024

Type: article

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.

Source: Iowa Research Online (The University of Iowa)

DOI: 10.25820/etd.007599

Author: Weerakkody, Thilina Hemaka

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W6946223500

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