{"created":"2023-05-15T08:44:46.168643+00:00","id":10050,"links":{},"metadata":{"_buckets":{"deposit":"f6bae1ca-4fb4-4704-827c-0bbc791ceb68"},"_deposit":{"created_by":13,"id":"10050","owners":[13],"pid":{"revision_id":0,"type":"depid","value":"10050"},"status":"published"},"_oai":{"id":"oai:uec.repo.nii.ac.jp:00010050","sets":["6"]},"author_link":["26852","26853","26854"],"control_number":"10050","item_10001_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2021-06-03","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"3","bibliographicPageEnd":"1726","bibliographicPageStart":"1715","bibliographicVolumeNumber":"27","bibliographic_titles":[{"bibliographic_title":"IEEE/ASME Transactions on Mechatronics","bibliographic_titleLang":"en"}]}]},"item_10001_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper proposes a detailed nonlinear mathematical model of an antagonistic pneumatic artificial muscle (PAM) actuator system for estimating the joint angle and torque using an unscented Kalman filter (UKF). The proposed model is described in a hybrid state-space representation. It includes the contraction force of the PAM, joint dynamics, fluid dynamics of compressed air, mass flows of a valve, and friction models. A part of the friction models is modified to obtain a novel form of Coulomb friction depending on the inner pressure of the PAM. For model validation, offline and online UKF estimations and sensor-less tracking control of the joint angle and torque are conducted to evaluate the estimation accuracy and tracking control performance. The estimation error is less than 7.91 %, and the steady-state tracking control performance is more than 94.75 %. These results confirm that the proposed model is detailed and could be used as the state estimator of an antagonistic PAM system.","subitem_description_type":"Abstract"}]},"item_10001_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"IEEE"}]},"item_10001_relation_14":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"10.1109/TMECH.2021.3086218","subitem_relation_type_select":"DOI"}}]},"item_10001_relation_17":{"attribute_name":"関連サイト","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.1109/TMECH.2021.3086218","subitem_relation_type_select":"DOI"}}]},"item_10001_rights_15":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"(c) 2021 THE AUTHORS."}]},"item_10001_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"10834435","subitem_source_identifier_type":"ISSN"}]},"item_10001_version_type_20":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Shin, Takaya","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Ibayashi, Takumi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kogiso, Kiminao","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2021-09-27"}],"displaytype":"detail","filename":"Detailed_Dynamic_Model_K.pdf","filesize":[{"value":"13.2 MB"}],"format":"application/pdf","license_note":"CC BY NC ND 4.0","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"Detailed_Dynamic_Model_K","url":"https://uec.repo.nii.ac.jp/record/10050/files/Detailed_Dynamic_Model_K.pdf"},"version_id":"8e4c183e-82b8-433d-8def-f941e0522c8b"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Nonlinear Model","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Pneumatic Artificial Muscle","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"State Estimation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Unscented Kalman Filter","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Sensor-less Control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Experimental Validation","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"Detailed Dynamic Model of Antagonistic PAM System and its Experimental Validation: Sensor-less Angle and Torque Control with UKF","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Detailed Dynamic Model of Antagonistic PAM System and its Experimental Validation: Sensor-less Angle and Torque Control with UKF","subitem_title_language":"en"}]},"item_type_id":"10001","owner":"13","path":["6"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2021-09-27"},"publish_date":"2021-09-27","publish_status":"0","recid":"10050","relation_version_is_last":true,"title":["Detailed Dynamic Model of Antagonistic PAM System and its Experimental Validation: Sensor-less Angle and Torque Control with UKF"],"weko_creator_id":"13","weko_shared_id":-1},"updated":"2024-03-19T05:24:51.390647+00:00"}