New Invention Profile
| Publication No: | IN202311017238 [India] | Application No: | IN202311017238 |
| Title: | A TWO-STAGE PNEUMATIC SUPPLY ARCHITECTURE FOR LIGHT-WEIGHT UNTETHERED PNEUMATIC ACTUATION SYSTEMS | ||
| Publication Date: | 23-06-2023 | File Date: | 14-03-2023 |
| Inventor(s): | Aman Arora; Debadrata Sarkar; Soumen Sen | ||
| IPC Classification: | A61B 170000, B60T 070800, B81B 070000, F01L 130600, H04N 052250 | ||
| Abstract: | A two-stage pneumatic supply architecture for light-weight untethered pneumatic actuation systems A two-stage accumulator based pneumatic supply architecture makes possible the rapid actuation of multiple compliant pneumatic 5 actuators simultaneously for their potential applications in wearable robotic assistive and rehabilitative devices, serving as light-weight and untethered actuation systems. Most of the works in prior art have implemented pressure feedback based closed loop control schemes in pressurizing the actuators and involve algorithms too complex to 10 achieve desired pressure rapidly with minimal control iterations. The present invention involves no feedback control between the actuators and the immediate accumulators that supply pressurized air to them. It envisages the use of a simple data driven system performance model to achieve individual desired pressures in each actuator by solenoid valve control, ensuring it occurs within the 15 targeted duration of time. A simple Proportional Derivative (PD) based control scheme rejuvenates the individual secondary accumulators upto the model based predetermined pressures from the primary reservoir, in between the consecutive actuation cycles. Thus, this pneumatic supply scheme makes possible the individual pressurization of multiple actuators simultaneously, inspite 20 of the continuous decrease in supply pressure level in primary reservoir through a simple yet reliable technique. |
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| Startup Options: | The main advantages of the present invention are as follows: 1. The innovative usage of two-stage pneumatic accumulators makes possible pressurized air supply of different levels to multiple actuators simultaneously inspite of a continuously decreasing supply pressure in primary reservoir. 2. It is quite difficult to achieve precise control in a fast acting pneumatic system where the supply pressure in the primary reservoir(source) continuously changes due to consecutive usage. Thus the implementation of a data driven system performance based model has enabled to maintain the specific pre-determined pressures in the individual secondary accumulators, making possible the simultaneous operation of multiple actuators, achieving the required targeted pressure in required targeted time durations with the help of solenoid valves controlled by PWM signals. 3. The replenishment of the secondary reservoirs can be done over a greater duration of time (in between consecutive fast actuations). Thus it can be accomplished using a simple PD control system with pressure feedback from the secondary reservoirs, thus ensuring sufficient numbers of iterations of the control system. 4. The use of PET bottles as accumulators make the entire system economic and light-weight especially for untethered wearable assistive robotic applications. |
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:https://www.cmeri.res.in
Industrial Applications
Control [Instrumentation, Appliances, Devices]
Instrumentation, Appliances, Devices Applications [Instrumentation, Appliances, Devices]
Measurement [Instrumentation, Appliances, Devices]