S&M Young Researcher Paper Award 2020
Recipients: Ding Jiao, Zao Ni, Jiachou Wang, and Xinxin Li [Winner's comments]
Paper: High Fill Factor Array of Piezoelectric Micromachined
Ultrasonic Transducers with Large Quality Factor

S&M Young Researcher Paper Award 2021
Award Criteria
Notice of retraction
Vol. 32, No. 8(2), S&M2292

Print: ISSN 0914-4935
Online: ISSN 2435-0869
Sensors and Materials
is an international peer-reviewed open access journal to provide a forum for researchers working in multidisciplinary fields of sensing technology.
Sensors and Materials
is covered by Science Citation Index Expanded (Clarivate Analytics), Scopus (Elsevier), and other databases.

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Design and Control of 6-DOF Robotic Manipulator Driven by Pneumatic Muscles and Motor

Lian-Wang Lee, Liang-Yu Lu, I-Hsum Li, Chia-Wei Lee, and Te-Jen Su

(Received December 30, 2020; Accepted April 7, 2021)

Keywords: serial manipulator arm, smooth control, pneumatic-muscle actuator, linear extended state observer, novel proxy-based sliding mode control

A pneumatic-muscle actuator (PMA) is made of a unique material with fibers wrapped inside and metal fittings attached at each end. Due to the reversible physical deformation, a PMA can produce linear motion during contraction and muscle expansion. This study uses a PMA and motors’ hybrid drivers to implement a low-cost and safe robot manipulator with six degrees of freedom (6-DOF). Safety is achieved by applying a novel proxy-based sliding mode controller (NPSMC) and a linear extended state observer (LESO) on each joint of the 6-DOF robot manipulator. The NPSMC can compensate the six joints of the 6-DOF robot manipulator reaching Lyapunov stability, and we prove that their pathing errors converge to a neighborhood of zero. An experiment on all joints is conducted to verify the trajectory pathing precision and system safety for the 6-DOF robot manipulator. The experimental results show that under NPSMC compensation and the LESO estimate, the 6-DOF robot manipulator using the hybrid drivers satisfies both the pathing performance demands and safety control.

Corresponding author: Te-Jen Su




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