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This content will become publicly available on August 4, 2025

Title: Hybrid Control of 3D-Printed Multimodal Soft Pneumatic Actuators
Soft pneumatic actuators (SPAs) offer a promising alternative for biomedical applications requiring high sensitivity and precise manipulation due to their inherent compliance. 3D- printed multi-modal zig-zag SPAs exhibit potential in this area by achieving repeatable and precise shape changes due to their chambered design. However, achieving accurate position control remains a challenge. This work proposes a hybrid control strategy for multi-modal zig-zag SPAs that combines feed-forward and proportional-integral-derivative (PID) control to enhance positioning accuracy. A Pseudo Rigid Body (PRB) based inverse dynamic model is employed for the feed-forward component. The effectiveness of the controller is evaluated through extensive simulations and experiments. Results demonstrate that the hybrid control strategy achieves up to 29.5% and 31.6% improvement in accuracy compared to the PID and feed-forward controllers, respectively, within the operational bandwidth.  more » « less
Award ID(s):
2326536 2325491
PAR ID:
10538627
Author(s) / Creator(s):
; ; ; ;
Publisher / Repository:
IEEE
Date Published:
ISSN:
2152-744X
ISBN:
979-8-3503-8807-7
Page Range / eLocation ID:
1753 to 1758
Subject(s) / Keyword(s):
Soft pneumatic actuators, Biomedical applications, Hybrid control, Position control, PRB model
Format(s):
Medium: X
Location:
Tianjin, China
Sponsoring Org:
National Science Foundation
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