抄録
Offer Organization: Japan Society for the Promotion of Science, System Name: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), Category: Grant-in-Aid for Scientific Research (C), Fund Type: competitive_research_funding, Overall Grant Amount: - (direct: 3400000, indirect: 1020000)
This study has obtained four results related to model-based control, management, and securing of pneumatic artificial muscles (PAM) that realize flexible actuators. Specifically, we have identified a precise mathematical model of the PAM. We have developed model-based control and sensorless control to track the desired flexibility (stiffness), a method for detecting the failure of the PAM by focusing on changes in model parameters of the PAM model, and a secure control method by applying encrypted control.