关键词: 气动人工肌肉, 研究进展, 研究趋势, 迟滞现象, 控制策略, 建模

Abstract: Regarding to the problems of hysteresis,threshold pressure,creep,compliance and low bandwidth,the developments and achievements of the research on McKibben pneumatic artificial muscles at home and abroad were systemically reviewed.The state of art was summarized in terms of static/dynamic characteristics modelling,hysteresis modelling,and control strategies.The problems in recent research and the new development trends were analyzed.The pneumatic artificial muscle was developed towards high strength,integration and intelligence,while the hysteresis in the movement of pneumatic artificial muscle was the main factor restricted its extensive application.With the great progresses of hysteresis modelling approaches and parameter identification techniques,the compensation control strategies based on hysteresis models were further developed.With the increase of agency compliance requirements,the active compliance control of mechanism drove by pneumatic artificial muscle needed to be further studied,and how to realize the force control and ensure the accuracy of position control was the key research topic.

Key words: pneumatic artificial muscle, research achievements, research trends, hysteresis, control strategy, modelling