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সিএসআইআর - সেন্ট্রাল মেকানিক্যাল ইঞ্জিনিয়ারিং রিসার্চ ইনস্টিটিউট, বিজ্ঞান ও প্রযুক্তি মন্ত্রণালয়, ভারত সরকার सीएसआईआर - केंद्रीय यांत्रिक अभियांत्रिकी अनुसंधान संस्थान, विज्ञान और प्रौद्योगिकी मंत्रालय, भारत सरकार CSIR - Central Mechanical Engineering Research Institute, Ministry of S&T, Govt. of India
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Last updated : 7 Sep, 2019

Biological Systems Laboratory, Hiroshima University, Japan

Collaboration Type:  Researcher/Student Exchange Programme
Objective and Short Description of the project: 

Under an agreement signed between CSIR-CMERI and Hiroshima University on January 18, 2018 by Director, CSIR-CMERI and President, Hiroshima University, a PhD student, Mr. Chetan Thakur, visited CSIR-CMERI as an intern under the Sakura Student Exchange Programme. The internship as carried out by Mr. Chetan Thakur from 11 Nov. to 12 Dec., 2018 under the supervision of Dr. Soumen Sen, Principal Scientist at Robotics and Automation Div. of CSIR-CMERI, Durgapur.

The work mainly involved characterization of Pneumatic Muscle as an actuation system for assist exoskeleton for domestic workers and farmers. Development of human assistive devices requires actuators to be compliant with dexterous motion of human body and to augment desired motion. Pneumatic artificial muscle (PAM) are lightweight and have low force to weight ratio, which makes it suitable for wearable assistive devices or exosuits. PAM has inherent characteristics like biological muscles to vary impedance by changing supplied air pressure. Impedance of PAM depends on the material used and dimensions of the PAM at rest. In this study, we measure impedance characteristics of McKibben type PAM by considering spring mass damper system. In this experiment we measure stiffness and damping coefficient of the PAM. These coefficients are modeled as function of air pressure, displacement and elongation velocity. This model is useful for designing appropriate control strategy when these PAMs are used in wearable assistive devices to synchronize with assisted motion.

Team Member:  Soumen Sen (1401)
Address:  4-1 Kagamiyama 1-chome, Higashi-Hiroshima-shi, Hiroshima, 739-8527 Japan
Country:  JP Japan
Project Duration:  Sunday, November 11, 2018 to Wednesday, December 12, 2018