10th International DAAAM Baltic Conference "INDUSTRIAL ENGINEERING” 1213th May 2015, Tallinn, Estonia Matti Mielonen Joni Väisänen Olli Hasu Toni Hevonoja
Background Evolution of human anatomy Previous research Fine and complicated mechanisms Artificial imitation is interesting and challenging Previous research
Scope of the research Can human anatomy be effectively imitated by pneumatic muscles? Application Sports training robot (“pneumatic athlete”) Primary goals Pneumatic human anatomy imitation (in sport context) Utilization of pneumatic muscles High performance and accuracy
Football kicking device
Mechanical design
Pneumatic systems
Electronics and software RASPBERRY PI 2 ARDUINIO NANO
Results Performance evaluation Kicking action and velocity Accuracy High speed camera Accuracy Visual evaluation of goal scatter (parameters unchanged) Accuracy of control system Mounted laser pointer to help visual evaluation
Results: kick action
Results: kick action
Results: velocity
Results: kick action Performance evaluation Kicking speed Achieved: 41-45 km/h (static) Target speed: 100 km/h Not a pure kick (2 impacts due to muscle suspension)
Results: accuracy
Results: accuracy Performance evaluation Accuracy Mechanical accuracy Impacts inside a circle of 1m radius Accuracy of control systems Alignment: unstable and inaccurate Ankle: stable and accurate
Further research (“Big Picture”) Focus Direction of development Current state Conceptual prototype Sport training application Increase of performance Supportive features (machine vision) Human anatomy research Finer and more realistic imitation and / or
Conclusion High-performance pneumatic imitation of human anatomy by fluidic muscles Possible, yet further refinement is needed Mechanical improvements (transmission ratio, precision, more realistic imitation…) Accuracy of control systems Questions raised: How to improve performance and accuracy? How to achieve more realistic imitation? Potential for commercial use? More features (i.e. machine vision)
Thank you!