Proceedings of the 2019 IEEE/ASME
International Conference on Advanced Intelligent Mechatronics
Hong Kong, China, July 8-12, 2019
Dynamic Modeling and Analysis for Dual Pneumatic Artificial Muscle
Actuated Manipulators
Dingkun Liang, Ning Sun∗ , Yiming Wu, Yiheng Chen, and Yongchun Fang
Abstract— Dual pneumatic artificial muscle actuated ma-
nipulators (dual-PAMs) are increasingly popular in the field
of rehabilitation and exoskeleton robots. Dual-PAMs exhibit
many complicated characteristics, such as complex hystere-
sis, unidirectional input constraints, compliance, time-varying
properties, high nonlinearities, etc., which bring difficulties and
challenges to the control issue of dual-PAMs. In this paper, the
dual-PAM system’s dynamic model is established by using the
Lagrange’s method. Then, a linear quadratic regulator (LQR)
control method is presented to achieve accurate positioning and
vibration suppression. Finally, numerical simulation results are
provided to verify the effectiveness of the proposed control
method for dual-PAM systems.
I. I NTRODUCTION
Nowadays, a considerable number of people suffer from
physical disability. The reasons include traffic accidents
and diseases (e.g., stroke, functional disorder, etc.). Such a
situation arouses increasing attention on designing alternative
artificial manipulators to reduce casualty rates, and finding
suitable rehabilitation robots for patients to bring them back
to their normal life. In this field, since the manipulators’
motion is similar to human upper limb movements, making it
convenient to repeat simple rehabilitation exercises for a long
time, studies on control of manipulators are very necessary.
However, similar to many other nonlinear mechanical sys-
tems [1-11], the widely used manipulators and rehabilitation
robots [12-16] usually exhibit complicated characteristics and
the control issue is still open.
In practice, the manipulators in rehabilitation must ensure
safety for users. Among kinds of manipulator actuators,
pneumatic artificial muscles (PAMs) exhibit strong safety
capability and are increasingly applied to actuate upper/lower
arms of manipulators. Since there are no additional inter-
nal components and surface slip phenomenon, PAMs have
some satisfactory advantages, such as lightweight materials,
simple structure, low cost, high strength ratios, high power-
to-weight/volum ratios, etc. [17-20]. Nevertheless, PAMs
also bring some unresolved problems to manipulator control
This work is supported by the National Key R&D Program of China under
Grant 2018YFB1309000, the National Natural Science Foundation of China
under Grant 61873134 and Grant U1706228, the Young Elite Scientists
Sponsorship Program by Tianjin under Grant TJSQNTJ-2017-02, and the
program of JSPS (Japan Society for the Promotion of Science) International
Research Fellow under Grant 18F18363. (Corresponding author: Ning Sun.)
The authors are with the Institute of Robotics and Automatic Information
Systems, College of Artificial Intelligence, and also with the Tianjin Key
Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350,
China. Ning Sun is also a JSPS International Research Fellow with the
Faculty of Computer Science and Systems Engineering, Okayama Prefec-
tural University, Soja, Okayama 719-1197, Japan, from Nov. 2018 to Oct.
2019 (sunn@nankai.edu.cn, liangdk@mail.nankai.edu.cn)
978-1-7281-2493-3/19/$31.00 ©2019 IEEE 691
issues, e.g., variable elastic properties, high nonlinearities,
complex hysteresis, creep, etc., which make dynamic model-
ing and controller design more challenging and attractive [21-
23]. In fact, a single PAM can only generate unidirectional
contractile forces and movements; hence, to imitate human
upper limb motion, the manipulator needs at least two PAMs
to achieve object lifting and dropping simultaneously.
For widely used manipulators with PAMs, in order to
handle complicated characteristics of PAMs and achieve ac-
curate tracking control performance, more and more studies
focus on modeling and designing proper control strategies
for manipulators with dual-PAMs [16, 24-29]. Specifically,
Lin et al. propose a feedback controller by combining the
proportional integral derivative (PID) method with the sliding
model strategy, and also design a feedforward controller for
dual-PAMs to track reference signals and compensate the
hysteresis [24]. Also, in [25], the gains of the proposed PID
controller for dual-PAMs are tuned by applying neural net-
work techniques. Further, Das et al. investigate an interactive
glove with dual-PAMs and evaluate the flexion, extension,
pronation, and supination wrist motions by collecting elec-
tromyographic signals [26]. In addition, by using the human
adaptive and motor learning control method, a dual-PAM
system can hammer a nail into a wood block based on human
sensorimotor learning data [28].
Most studies of dual-PAMs concern about applying at
least two “muscles” to construct antagonism, so as to realize
two-direction motion, which may reduce system transmission
efficiency. Also, none of them considers inserting additional
springs to attenuate system energy quickly, which may bring
unexpected vibrations during positioning process. Therefore,
this paper proposes a novel physical structure for dual-PAM
systems by involving two extension springs which parallel to
the two “muscles”. Also, on the basis of the proposed model,
an LQR control method is proposed to achieve accurate po-
sitioning and suppress residual vibrations. Specifically, first,
the dynamic model of the dual-PAM system with extension
springs is constructed by using the Lagrange’s approach, and
also the three-element model of PAMs [30-32] is applied.
Then, to facilitate the subsequent analysis, the linear model
of dual-PAMs is presented and an LQR control method is
applied to achieve satisfactory control performance.
II. M ODELING OF D UAL -PAM S YSTEMS
The schematic model and the detailed geometric diagram
of the dual pneumatic artificial muscle system are shown in
Fig. 1, and the system parameters are given in TABLE I.
In Fig. 1, as for the initial state, AC = L1 , CE = L2 are
 A O B
energy T1 (t) and the potential energy P1 (t) of the upper
α1 arm can be calculated as follows:
Upper Arm Shoulder Joint
Lp1
1 1
L1
Ls1
θ1 Fp1 T1 = I1 θ̇2 , P1 = − m1 gL1 cos θ1 (3)
2 1 2
D′
Lx1 O1′
O1 Elbow Joint where I1 is the moment of inertia of the upper arm. Further,
C
α2 D
′
Fp1 Lp2 the centroid position of the lower arm is derived as
C′

Lower Arm θ1 θ2 Fp2

1
L2
xc = L1 sin θ1 + L2 sin (θ1 + θ2 )
Lx2 Ls2 F′ [ 2 ]
′
Fp2 1
O2′
yc = − L1 cos θ1 + L2 cos (θ1 + θ2 ) (4)
E′
2
r
O1′′
E O2 F By taking the derivative of (4), we have
1 ( )
Fig. 1. The schematic model of the dual-PAM system. ẋc = L1 cos θ1 θ̇1 + L2 cos (θ1 + θ2 ) θ̇1 + θ̇2
2
1 ( )
TABLE I ẏc = L1 sin θ1 θ̇1 + L2 sin (θ1 + θ2 ) θ̇1 + θ̇2 (5)
D UAL -PAM’ S PARAMETERS 2
Symbols Physical Meaning Unit Then, according to (5), the centroid velocity vc (t) can be
L1 , L 2 lengths of arm bones of upper/lower m
arms obtained as follows:
θ 1 , θ2 shoulder/elbow joint angles rad ( )
1 2 1 2 2
Ls1 , Ls2 lengths of the first/second springs m vc = L1 + L2 + L1 L2 cos θ2 θ̇12 +
2 2
L θ̇
Lp1 , Lp2 lengths of the first/second muscles m 4 4 2 2
Fp1 , Fp2 input forces of the first/second muscles N ( )
′ , F′ 1 2
Fp1 p2 generalized forces N + L2 + L1 L2 cos θ2 θ̇1 θ̇2 (6)
m 1 , m2 masses of upper/lower arms kg 2
α1 , α 2 auxiliary angles rad
r distance between muscles (or springs) m Based on (6), we can obtain the following kinetic energy
and arm bones T2 (t) and the potential energy P2 (t) of the lower arm:
g gravity coefficient m/s2 [ ( )]
1 1
T2 = I2 + m2 L21 + L22 + L1 L2 cos θ2 θ̇12
2 4
( )
the original lengths of two springs, OO1 = L1 , O1 O2 = 1 2 1
+ I2 + m2 L2 + m2 L1 L2 cos θ2 θ̇1 θ̇2
L2 represent the lengths of the “arm bones” of dual-PAMs, 4 2
( )
BD = L1 , and DF = L1 denote the nominal lengths of 1 1
+ 2
I2 + m2 L2 θ̇22
two PAMs. When PAMs are contracted, “arm bones” rotate 2 8
[ ]
counterclockwise and springs are stretched simultaneously. 1
By using the geometrical relationship as shown in Fig. 1, the P2 = −m2 g L1 cos θ1 + L2 cos (θ1 + θ2 ) (7)
2
equations of Lp1 (t), Lp2 (t), Ls1 (t), Ls2 (t) can be calculated
as follows: where I2 is the moment of inertia of the lower arm. Further,
√ the elastic potential energies of upper and lower arms are
Ls1 = r2 + L2x1 − 2rLx1 cos(θ1 + α1 ) given as follows:
√
Ls2 = r2 + L2x2 − 2rLx2 cos(θ2 + α2 ) 1 1
√ S1 = k1 △L2s1 , S2 = k2 △L2s2 (8)
2 2
Lp1 = r2 + L2x1 − 2rLx1 cos(α1 − θ1 )
√ where S1 (t), S2 (t), k1 , k2 are the elastic potential energy
Lp2 = r2 + L2x2 − 2rLx2 cos(α2 − θ2 ) (1) of the upper arm, the elastic potential energy of the lower
√ arm, and the stiffness coefficients of the upper and the lower
where Lxi = r2 + L2i , αi = arcsin(Li /Lxi ), i = 1, 2. arms, respectively. From (1)–(3), (7), and (8), by using the
Based on (1), it can be derived that Lagrange’s method, the following equation can be derived:
∆Ls1 = Ls1 − L1 , ∆Ls2 = Ls2 − L2
( ) 1 4L2p1 L̇2p1 1 4L2p2 L̇2p2 4Lp1 L̇p1 Lp2 L̇p2
r2 + L2x1 − L2p1 L= µ1 + a5 + µ3 √
θ1 = α1 − arccos 2 g1 8 g2 g1 g2
2rLx1 ( )
1 1
( ) +
2
m1 + m2 gL1 cos θ1 + m2 gL2 cos (θ1 + θ2 )
2
r2 + L2x2 − L2p2
θ2 = α2 − arccos (2) 1 ( √ ) 1 √
2rLx2 − k1 g3 − 2 g3 L1 + L1 − k2 (g4 − 2 g4 L2 )
2
2 2
where ∆Ls1 (t) and ∆Ls2 (t) denote the length variations of 1
− k2 L22 (9)
two springs. Based on the Lagrange’s method, the kinetic 2

692
where Similarly, by taking the derivative of (2) about θ1 (t) and
1 θ2 (t), respectively, the following two equations of angle
µ1 = I1 + I2 + m2 L21 + m2 L22 + m2 L1 L2 cos θ2
4 constraints can be obtained:
1 1 ( )
2
µ3 = I2 + m2 L2 + m2 L1 L2 cos θ2 2Lp1 2L̇2p1 4L2p1 L̇2p1 a1 − L2p1
4 2 θ̈1 + √ L̈p1 + √ − √ =0
( 2 )2 g1 g1 g1 g1
g1 = 4Lx1 r − r + L2x1 − L2p1 = 2a1 L2p1 − L4p1 − a22
2 2
( )
( )2 2Lp2 2L̇2p2 4L2p2 L̇2p2 a2 − L2p2
g2 = 4L2x2 r2 − r2 + L2x2 − L2p2 = 2a3 L2p2 − L4p2 − a24 θ̈2 + √ L̈p2 + √ − √ = 0 (14)
g2 g2 g2 g2
g3 = r2 + L2x1 − 2rLx1 cos (θ1 + α1 ) Further, (12) can be transformed into
g4 = r2 + L2x2 − 2rLx2 cos (θ2 + α2 ) Md (q1 )q¨1 + Cd (q1 , q˙1 )q˙1 + Gd (q1 ) = Ud
a1 = r2 + L2x1 , a2 = r2 − L2x1 , a3 = r2 + L2x2 q1 = [Lp1 , Lp2 ]
T
(15)
a4 = r −2
L2x2 ,a5 = 4I2 + m2 L22 (10) where [ ] [ ]
In Fig. 1, the input forces Fp1 (t), Fp2 (t) of PAMs shorten M11 M12 C11 C12
the lengths of PAMs making the arms BD, DF (see Md = , Cd =
M21 M22 C21 C22
Fig. 1) rotate counterclockwise. Then, we have the following T T
Gd = [G1 , G2 ] , Ud = [−Fp1 , − Fp2 ] (16)
Lagrange’s equations:
d ∂L ∂L in which
′
− = Fp1 = −Fp1 4µ1 L2p1 4µ3 Lp1 Lp2
dt ∂ L̇p1 ∂Lp1 M11 = , M12 = M21 = √
d ∂L ∂L g1 g1 g2
′
− = Fp2 = −Fp2 (11) 2
a5 Lp2
dt ∂ L̇p2 ∂Lp2 M22 =
Then, after inserting (9) and its time derivative into (11), g2
the differential coefficient equations of Lp1 (t), Lp2 (t) are −2µ2 L2p1 θ̇2 4µ1 Lp1 L̇p1 8a1 µ1 L3p1 L̇p1
derived as follows: C11 = + −
g1 g1 g12
4µ1 L2p1 4µ3 Lp1 Lp2 2µ2 L2p1 θ̇2 L̇p1
L̈p1 + √ L̈p2 − 5
8µ1 Lp1 L̇p1
g1 g1 g2 g1 +
g12
4µ2 L2p1 Lp2 L̇p1 L̇p2 4µ1 Lp1 L̇2p1 8a1 µ1 L3p1 L̇2p1
+ √ + − 4µ2 L2p1 Lp2 L̇p1 4µ2 Lp1 L2p2 L̇p2 4µ3 Lp1 L̇p2
g1 g2 g1 g12 C12 = √ + √ + √
g1 g2 g2 g1 g1 g2
8µ1 L5p1 L̇2p1 4µ2 Lp1 L2p2 L̇2p2 4µ3 Lp1 L̇2p2 ( )
+ + √ + √ 8µ3 Lp1 Lp2 L̇p2 a3 Lp2 − Lp2 3
g 2 g2 g1 g1 g2 − √
(1 ) g2 g1 g2
8µ3 a3 Lp2 − Lp2 Lp1 Lp2 L̇p2
3 2
2µ4 Lp1
− √ − √ 2µ2 Lp1 Lp2 θ̇2 4µ3 L̇p1 Lp2 4µ2 L2p1 Lp2 L̇p1
g2 g1 g2 g1 C21 = − √ + √ − √
(√ ) g1 g2 g1 g2 g1 g2
2k1 rLx1 Lp1 sin (θ1 + α1 ) g3 − L1
− √ = −Fp1 4µ2 Lp1 L2p2 L̇p2 8µ3 L2p1 Lp2 a1 L̇p1
g1 g3 − √ − √
g2 g1 g1 g1 g2
a5 L2p2 4µ3 Lp1 Lp2 a5 Lp2 L̇2p2
L̈p2 + √ L̈p1 + 8µ3 L4p1 Lp2 L̇p1
g2 g1 g2 g2 + √
g1 g1 g2
2a3 a5 L3p2 L̇2p2 2a5 L5p2 L̇2p2 2µ2 Lp1 Lp2 θ̇2 L̇p1
− + − √ a5 Lp2 L̇p2 2a3 a5 L3p2 L̇p2 2a5 L5p2 L̇p2
g22 g22 g1 g2 C22 = − +
( ) g2 g22 g22
2
4µ3 L̇p1 Lp2 8µ3 Lp1 Lp2 a1 Lp1 − Lp1 L̇2p1
3 (√ )
+ √ − √ −2µ4 Lp1 2k1 rLx1 Lp1 sin (θ1 + α1 ) g3 − L1
g1 g2 g1 g1 g2 G1 = √ − √
g1 g1 g3
4µ2 L2p1 Lp2 L̇2p1 4µ2 Lp1 L2p2 L̇p1 L̇p2 −m2 gL2 sin (θ1 + θ2 ) Lp2
− √ − √ G2 = √
g1 g2 g2 g1 g2
m2 gL2 sin (θ1 + θ2 ) Lp2 (√ )
− √ 2k2 rLx2 Lp2 sin (θ2 + α2 ) g4 − L2
g2 − √ (17)
(√ ) g2 g4
2k2 rLx2 Lp2 sin (θ2 + α2 ) g4 − L2 According to (10), (13), (16) and (17), one has that
− √ = −Fp2 (12)
g2 g4 4µ1 L2p1
where M11 = >0
g1
µ2 = m2 L1 L2 sin θ2 ( )
16L2p1 L2p2 1
1 det(Md ) = I1 I2 + m2 L22 I1
µ4 = m1 gL1 sin θ1 + m2 gL1 sin θ1 g1 g2 4
2 ( ) 2 2
1 4m2 L1 L2 1 − cos θ2 Lp1 Lp2
2 2 2 2
+ m2 gL2 sin (θ1 + θ2 ) (13) + >0 (18)
2 g1 g2

693
From (18), it is not difficult to illustrate that the inertia matrix atmospheric pressure, f0 , f1 are the contractile-element
Md (q) is positive definite. Further, on the basis of (16) and coefficients of the first PAM, f2 , f3 denote the contractile-
(17), the derivative of Md (q) can be obtained as follows: element coefficients of the second PAM, dp0 , dp1 denote
4µ2 θ̇2 L2p1 8µ1 Lp1 L̇p1 16µ1 a1 L3p1 L̇p1 the damping-element coefficients of the first PAM, dp2 , dp3
Ṁ11 = − + − are the damping-element coefficients of the second PAM,
g1 g1 g12
sp0 , sp1 , sp2 , sp3 represent the spring-element coefficients
5
16µ1 Lp1 L̇p1 of the first PAM, and sp4 , sp5 , sp6 , sp7 are the spring-
+
g12 element coefficients of the second PAM. After inserting (14)
2µ2 Lp1 Lp2 θ̇2 4µ3 L̇p1 Lp2 4µ3 Lp1 L̇p2 and (22) into (15) and making some arrangements, (15) is
Ṁ12 =− √ + √ + √ rearranged into the following equation:
g1 g2 g1 g2 g1 g2
( )
8µ3 Lp1 Lp2 a1 Lp1 − Lp1 L̇p1
3 Mf (q)q̈ + Cf (q, q̇)q̇ + Gf (q) + δ(q, q̇, p1 , p2 ) = Uf
− √  
g1 g1 g2 M11 M12 0 0
( )  M21 M22 0 0 
8µ3 Lp1 Lp2 a3 Lp2 − L3p2 L̇p2 Mf =  M31

− √ = Ṁ21 0 1 0 
g2 g1 g2
0 M42 0 1
2a5 Lp2 L̇p2 4a3 a5 L3p2 L̇p2 4a5 L5p2 L̇p2  
Ṁ22 = − + (19) C11 + b1 C12 0 0
g2 g22 g22  C21 C22 + b4 0 0 
Cf = 


Also, based on (17), we have C31 0 0 0 
4µ2 L2p1 θ̇2 8µ1 Lp1 L̇p1 16a1 µ1 L3p1 L̇p1 0 C42 0 0
2C11 = − + −  
g1 g1 g12 G1 + σ1 + b2 Lp1 − b3 L2p1
 G2 + σ2 + b5 Lp2 − b6 L2p2 
Gf =  
5
16µ1 Lp1 L̇p1
+ = Ṁ11  0 
g12
0
4µ3 Lp1 L̇p2 2µ2 Lp1 Lp2 θ̇2 4µ3 L̇p1 Lp2
C12 + C21 = √ − √ + √ δ = B1 U , Uf = B2 U
g1 g2 g1 g2 g1 g2
( ) T
q = [Lp1 , Lp2 , θ1 , θ2 ] , U = [p1 , p2 ]
T
(24)
8µ3 Lp1 Lp2 L̇p2 a3 Lp2 − Lp2 3
− √ where
g2 g1 g2
( ) [ ]T
8µ3 Lp1 Lp2 L̇p1 a1 Lp1 − L3p1 B1 =
β1 0 0 0
− √ = Ṁ12 0 β2 0 0
g1 g1 g2
[ ]T
2a5 Lp2 L̇p2 4a3 a5 L3p2 L̇p2 4a5 L5p2 L̇p2 −λ1 0 0 0
− B2 =
2C22 =
g2 g22
+
g22
= Ṁ22 0 −λ2 0 0
(20) 2Lp1 2Lp2
M31 = √ , M42 = √
Considering (17), (19) and (20), it can be derived as g1 g2
( )
Ṁd = Cd + CdT (21) 2L̇p1 4Lp1 L̇p1 a1 Lp1 − L3p1
C31 = √ − √
Further, by applying the three-element model of PAM sys- g1 g1 g1
( )
tems [30], the specific equation of the actuated force of the 2L̇p2 4Lp2 L̇p2 a3 Lp2 − L3p2
C42 = √ − √ (25)
“muscles” can be calculated as follows: g2 g2 g2
Fp1 = λ1 p1 + β1 p1 + σ1 + b1 L̇p1 + b2 Lp1 − b3 L2p1
Fp2 = λ2 p2 + β2 p2 + σ2 + b4 L̇p2 + b5 Lp2 − b6 L2p2 (22) III. C ONTROLLER D ESIGN
where The control objective is to design the actuated forces
λ1 = f1 − sp1 L1 − sp3 L21 , λ2 = f3 − sp5 L2 − sp7 L22 and control the joint angles and the upper/lower arm
( )
β1 = sp1 Lp1 − sp3 L2p1 − 2L1 Lp1 lengths to their desired values, i.e., the system state
( ) variables θ1 (t), θ2 (t), Lp1 (t), Lp2 (t) from the initial con-
β2 = sp5 Lp2 − sp7 L2p2 − 2L2 Lp2
ditions (θ10 , θ20 , Lp10 , Lp20 ) to their target locations
σ1 = f1 p0 + f0 − (sp1 p0 + sp0 ) L1 − (sp3 p0 + sp2 ) L21 (θ1d , θ2d , Lp1d , Lp2d ).
σ2 = f3 p0 + f2 − (sp5 p0 + sp4 ) L2 − (sp7 p0 + sp6 ) L22 It can be seen from (12) that, the dual-PAM system
b1 = dp1 p0 + dp0 , b2 = sp1 p0 + sp0 + 2L1 (sp3 p0 + sp2 ) exhibits high nonlinearity and strong coupling between state
variables. For simplicity, considering the case where the
b3 = sp3 p0 + sp2 , b4 = dp3 p0 + dp2 , b6 = sp7 p0 + sp6
length variation of PAMs is small, by defining Xq =
b5 = sp5 p0 + sp4 + 2L2 (sp7 p0 + sp6 ) (23) [ T T ]T
q , q̇ , the model in (24) can be linearized as follows:
in which p1 (t), p2 (t) represent the injected air pressure of
the first and the second PAM, respectively, p0 is the nominal Ẋq = Aq Xq + Bq U + Gx (26)

694
 0.2
where [ ]

Lp1 [m]
04×4 I4×4
Aq = 0.175
−Mf′−1 Gq −Mf′−1 Cf′ 0 1 2 3 4 5 6 7 8 9 10
[ ] [ ] 0.3
04×2 04×1

Lp2 [m]
Bq = , G =
Mf′−1 B3 x
−Mf′−1 G0
 
0.275

c1 /r2 c2 /r2 0 0 0 1 2 3 4 5 6 7 8 9 10

 2 2
0 

θ1 [rad]
c /r a /(4r ) 0 0.5266
Mf = 
′ 2
 1/r
5 
0 1 0  0
0 1/r 0 1 0 1 2 3 4 5 6 7 8 9 10
   
b1 0 0 0 σ1 + b2 L1 − b3 L21 0.5255

θ2 [rad]
 0 b4 0 0   σ2 + b5 L2 − b6 L22 
Cf′ =  0 0 0 0  , G0 = 
  

0
0 0 1 2 3 4 5
Time [Sec]
6 7 8 9 10

0 0 0 0 0
 
0 0 (c3 + c4 )/r c4 /r Fig. 2. Simulation results of θ1 (t), θ2 (t), Lp1 (t), Lp2 (t) of the dual-
 0 0 c4 /r c4 /r 
PAM system (reference values–red dashed line; simulation results–blue solid
Gq =   0 0
 line).
0 0 
0 0 0 0
[ ]T
−f1 0 0 0 2

p1 [bar]
B3 = (27)
−f2 0 0
1
0
0
in which 0 1 2 3 4 5 6 7 8 9 10
1 1
c1 = I1 + I2 + m2 L21 + m2 L22 + m2 L1 L2

p2 [bar]
4 0.5

1 2 1 0
c2 = I2 + m2 L2 + m2 L1 L2 0 1 2 3 4 5 6 7 8 9 10

( 4 )2 200
1 1
Fp1 [N]

c3 = − m1 + m2 gL1 , c4 = − m2 gL2 (28) 100

2 2 0
in which I ∈ R4×4 is the identity matrix. By using the LQR 0 1 2 3 4 5 6 7 8 9 10

100
method and based on (26), the controller can be designed as
Fp2 [N]

1 ( ) 50

p1 = −K1 eq − G1 + σ1 + b2 Lp1 − b3 L2p1 0

λ1 0 1 2 3 4 5 6 7 8 9 10

1 ( ) Time [Sec]

p2 = −K2 eq − G2 + σ2 + b5 Lp2 − b6 L2p2 (29)

λ2
where eq (t) , Xq (t) − Xd (t) is the tracking error between
system state variables and their reference values, Xd (t)
represents the desired value of Xq (t), and K1 , K2 ∈ R1×8
denote constant control gains of the LQR method, which can
be expressed as follows:
K1 = [K11 , K12 , K13 , K14 , K15 , K16 , K17 , K18 ]
K2 = [K21 , K22 , K23 , K24 , K25 , K26 , K27 , K28 ] (30)
IV. S IMULATION R ESULTS
In this section, by using the dual-PAM dynamic model
and the LQR control method, numerical simulations are
implemented in MATLAB/Simulink. Further, the control
performance of the proposed controller for the dual-PAM
system is analyzed in detail.
For the simulations, the system parameters of the dual-
PAM system are given as
m1 = 2 kg, m2 = 3 kg, L1 = 0.2 m, L3 = 0.3 m
2 of the dual-PAM dynamic model (24) and after applying
g = 9.8 m/s , k1 = 4 N/m, k2 = 5 N/m, dp0 = −0.87
dp1 = 76.79, dp2 = −0.4716, dp3 = 0.47, f0 = 0
f1 = 141.13, f2 = 0, f3 = 150.24, sp0 = 76.79
sp1 = −1.54, sp2 = −0.4716, sp3 = 0.0969, sp4 = 78.21
sp5 = −1.6, sp6 = −0.3214, sp7 = 0.0821
Fig. 3. Simulation results of p1 (t), p2 (t), Fp1 (t), Fp2 (t) of the dual-
PAM system.
Also, the control gains in (30) are chosen as follows:
K11 = −8.869, K12 = 0.038, K13 = 1.126, K14 = −0.301
K15 = −22.327, K16 = 0.031, K17 = 1.048, K18 = 0.048
K21 = 0.117, K22 = −0.529, K23 = −0.375, K24 = 1.773
K25 = 0.076, K26 = −0.235
K27 = 0.005, K28 = 1.007 (32)
Furthermore, the initial values of arm muscles’
lengths and shoulder/elbow joint angles are set as
(Lp10 , Lp20 , θ10 , θ20 ) = (0.2 m, 0.3 m, 0 rad, 0 rad), and
their desired values are given as (Lp1d , Lp2d , θ1d , θ2d ) =
(0.175 m, 0.275 m, 0.5266 rad, 0.5255 rad). On the basis
the controller (29), the simulation results are shown in
Figs. 2 and 3. As shown in Figs. 2 and 3, the lengths
of the first/second muscles both contract to their preset
values quickly and smoothly within 5 s, and also, the
shoulder/elbow joint angles reach their reference values
(31) simultaneously, without residual vibration.

695
 V. C ONCLUSION
This paper builds the dynamic model of the dual-PAM
system with two extension springs by using the Lagrange’s
method. Then, we linearize the dynamic model of the dual-
PAM system and transform it into a state space expression
equation. Also, by applying the LQR method, the control
objective is achieved satisfactorily, i.e., actuating the joint
angles and “muscle” lengths to their desired values without
residual vibrations. The effectiveness of the proposed control
strategy are both verified by simulation results. In the future,
we will focus on designing advanced control methods, e.g.,
neural network-based controllers [33, 34], for dual-PAM
systems to increase their performance in the presence of
uncertainties.
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