气动人工肌肉的发展趋势与研究现状

Research Achievements and Development Trends of Pneumatic Artificial Muscles

回顾了气动人工肌肉的发展历史,总结了国内外主要研究机构的研究近况,概述了在基本特性及建模、结构优化和控制策略等方面的研究工作。研究结果表明:气动人工肌肉可以从等效做功、弹性力学等多种角度建模,通过多种结构优化改进了其性能,针对气动人工肌肉系统的不同特性,采取相应的控制策略,如鲁棒设计、自适应控制、智能控制等。从目前的发展趋势来看,气动人工肌肉的工作机理分析和高精度控制短期内难以突破,相对而言新型结构设计及应用将得到迅速发展,可以预见在仿生、理疗、虚拟现实等诸多领域有着广阔的应用前景。

The pneumatic artificial muscle （PAM）＇s development history and recent research achievements of main domestic and overseas organizations are reviewed. Research work in basic characteristics and modeling, structure optimization and control strategy are summarized. The results indicate that PAM can be modeled from several aspects such as the equivalent work and elasticity theory; its performance is improved through various structure optimizations; different control strategies such as robust design, adaptive control, and intelligent control are adopted according to different PAM system characteristics. Judging from the current development trend, the PAM＇s working mechanism analysis and high accuracy control are difficult to have a breakthrough in short term. Comparatively, the new structural design and application work will grow rapidly. A broad application can be expected in the fields of bionics, physical therapy, virtual reality and so on.