Hysteresis compensation approach via combination of origami pump and soft pneumatic actuator

초록

This paper proposes a new hysteresis compensation approach by combining an origami pump and a soft pneumatic actuator with counteractive hysteretic behaviors. Theoretically, the composition of two counteractive hysteresis loops results in hysteresis compensation. Hysteresis compensation respect to the variation of counteractive hysteresis is shown through the modified Prandtl-Ishlinskii (P-I) model. For the application of this theoretical framework, we utilize the origami pump and soft pneumatic actuator. Specifically, the origami pump has clockwise hysteresis, and the soft pneumatic actuator has counterclockwise hysteresis. Herein, we analyze the hysteresis compensation with series of experiments. In the experiments, we test various conditions of the origami pump and soft pneumatic actuator. Regardless of varying frequencies and amplitudes, the composition can result in effective hysteresis compensation, with decreased hysteresis loop areas.

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