Study of Hysteresis Modeling on the Pneumatic Muscle Humanoid Elbow Joint

The aim of this study is to explore the application of pneumatic muscles in a humanoid elbow joint, with particular attention to its hysteresis. The performance of pneumatic muscles during joint motion was analyzed Through establishing an experiment on pneumatic muscle output hysteresis and a pneumatic muscle pseudo-elbow joint platform. Pressure sensors and displacement sensors were used in the experiments to monitor and record the joint movement process, and the data were used to determine the hysteresis of the pneumatic muscles in the joint movement process. Through the study of the pneumatic muscle imitating the human elbow joint hysteresis, it was found that the pneumatic muscle has high flexibility and hysteresis, which can better simulate the movement characteristics of the human elbow joint. In this study, The hysteresis of pneumatic muscles imitating the human elbow joint was experimentally verified through isobaric experiments and isometric experiments, and its mechanism was preliminarily analyzed. To improve the accuracy in describing the hysteresis of pneumatic muscles, a new mechanical model is established, along with establishing the force-velocity relationship mimicking the motion process of skeletal muscles. The results show that pneumatic muscles have potential applications in imitating the human elbow joint.