IEEE Systems, Man and Cybernetics Magazine - July 2022 - 68

Air Pressure
Air Compressor
Regulators
D/A
Converter
Variable
Constant
Current Circuit
Electric Signal
Image Data
Microcomputer
Computer
Camera
Figure 14. The paths of compressed air and an electric signal. D/A refers to digital/analog.
-5
-10
-15
-20
-25
-30
-35
-45
-40
Output
Reference Input
05 10 15 20 25 30
Time (s)
Figure 15. The x-coordinate of the tip.
-5
-10
-15
-20
-25
-30
-35
-45
-40
0 51015202530
Time (s)
Figure 16. The y-coordinate of the tip.
68 IEEE SYSTEMS, MAN, & CYBERNETICS MAGAZINE July 2022
Output
Reference Input
45
40
35
30
25
20
15
10
5
Output
Reference Input
05 10 15 20 25 30
Time (s)
Figure 17. The z-coordinate of the tip.
Figure 14. The compressed air generated by the air compressor
is input to each artificial muscle through the electropneumatic
regulator. The input air pressure is
determined by the degree of opening of the electropneumatic
regulator, which is varied by the electrical signal.
Experimental Results
The results of the experiment are presented in this section.
The parameters used are the same as those employed in the
simulation. The target position is also the same as in the
simulation. Figures 15-17 show the behavior of the x-, y-,
and z-coordinates of the tip, respectively. For all of these
values, convergence to the target value can be observed. It
can also be seen that there is an error of approximately
1 mm for all of them. This error is thought to be caused by
the use of values converted from the target values when
deriving the deviation.
1
2
3
Electropneumatic
Regulator
1
2
3
3-DOF
Microhand
y (mm)
x (mm)
z (mm)

IEEE Systems, Man and Cybernetics Magazine - July 2022

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