Predictive Functional Control of Tendon-Driven Actuator Using Pneumatic Balloon

Abstract

In recent years, Japanese society has been aging, engendering a labor shortage of young workers. For a robot that is often in contact with people and which must provide safety and flexibility in nursing and welfare, the development of a soft, lightweight, and compact actuator has been sought. Particularly robots that are intended for use in fields of medical care and welfare should be safe when functioning around humans because they often come into contact with people. Therefore, a tendon-driven balloon actuator (balloon actuator) has been developed for a robot hand to be used in such environments. For this study, we developed a stroke control system for the balloon actuator using a predictive functional control (PFC). The PFC is one of model predictive control (MPC) schemes, which predicts the future outputs of the actual plant over the prediction horizon and computes the control effort over the control horizon at every sampling instance. This paper reports the PFC control performance of the balloon actuator. We compared the control performance for the actuator with that of the PFC and a PID control system.