Proxy based sliding mode control of a manipulator actuated by pleated pneumatic artificial muscles
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Proxy-Based Sliding Mode Control of a Manipulator Actuated by Pleated Pneumatic Artificial Muscles.

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Proxy based sliding mode control of a manipulator actuated by pleated pneumatic artificial muscles
Proxy-Based Sliding Mode Control of a Manipulator Actuated by Pleated Pneumatic Artificial Muscles

M. Van Damme, B. Vanderborght, R. Van Ham, B. Verrelst,F. Daerden, D. LefeberVrije Universiteit Brussel, Department of Mechanical EngineeringMultibody Mechanics Research Groupmichael.vandamme@vub.ac.be

  • Lightweight manipulator actuated by Pleated Pneumatic Artificial Muscles

  • Adaptable compliance and high power to weight ratio

  • Safety is of primary importance

  • Proxy-Based Sliding mode control: improved performance and safety


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