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AssigneeCouncil of Scientific and Industrial Research An Indian Registered Body Incorporated Under the Regn.
InventorsAman ARORA, Debadrata SARKAR, Soumen SEN
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A two-stage accumulator based pneumatic supply architecture (TAPSA) is provided for rapid actuation of multiple compliant pneumatic actuators simultaneously for their potential applications in wearable robotic assistive and rehabilitative devices, serving as light-weight and untethered actuation systems. The TAPSA comprises Polyethylene Terephthalate (PET) bottles serving as primary accumulators and secondary accumulators connected in series. Individual targeted levels of pneumatic pressures are achieved in actuators of the TAPSA within targeted durations of time for the rapid actuation of the actuators by the action of Pulse Width Modulation (PWM) controlled solenoid valves supplying pressurized air from the secondary accumulators which are in turn pressurized in prior to predetermined levels based on system performance model developed by a data driven approach utilized in the TAPSA. Rejuvenation of pressure in the secondary accumulators occurs through a pressure feedback based PD control scheme executed in between consecutive actuation cycles.
A two-stage accumulator based pneumatic supply architecture (TAPSA) for light-weight untethered systems, the TAPSA comprising Polyethylene Terephthalate (PET) bottles serving as one or more primary accumulators and one or more secondary accumulators, the one or more primary accumulator and the one or more secondary accumulator being connected in series, wherein individual targeted levels of pneumatic pressures are achieved in actuators of the TAPSA within targeted durations of time for the rapid actuation of the actuators by the action of Pulse Width Modulation (PWM) controlled solenoid valves supplying pressurized air from the one or more secondary accumulators which are in turn pressurized in prior to predetermined levels based on system performance model developed by a data driven approach utilized in the TAPSA, and wherein rejuvenation of pressure in the one or more secondary accumulators occurs through a pressure feedback based PD control scheme executed in between consecutive actuation cycles.
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