建立了气动肌肉驱动手指夹持力的理论模型；
The theoretical model of the finger grasping force is developed.
由气动肌肉驱动的人工关节具有重量轻、柔顺性好等特点。
The artificial joint actuated by pneumatic muscle has many advantages such as lightweight and compliant.
本文采用类人气动肌肉，设计了一种双自由度的类人上肢。
The design of a 2 degrees of freedom imitating human upper extremity is proposed in this thesis.
然后对影响气动肌肉橡胶管强度与可靠性的因素进行定性分析。
Then, the factors affecting the strength and reliability of the rubber tube were analyzed qualitatively.
气动肌肉是一种具有重量轻、功率—重量比高的新型气动柔性执行器。
Pneumatic muscle is a lightweight, flexible pneumatic actuator with high power weight ratio.
最后本文对类人上肢和类人气动肌肉的进一步研究内容经行了分析和展望。
At the end, the future research work on HAM and imitating human upper extremity is analyzed and discussed.
以气动肌肉作为新型执行器，创建基于1/4悬架模型的汽车主动悬架系统。
The paper presents an active suspension experiment system with pneumatic artificial muscle as actuators according to the 1/4 suspension mechanism model.
建立了类人气动肌肉的新型实验台，所有的测量工作和控制工作都可以由计算机来完成。
On this test-bed, all the measurement and control can be carried out by computer. The validity of the theoretical models is tested on the test-bed.
建立了手指的静力学模型，以此为基础，分析了气动肌肉的输入压力与指端夹持力的关系。
The static model of finger is built, with which the relationship between the input pressure of the pneumatic muscles and the finger grasping force is analyzed.
气动肌肉驱动的机器人手臂是一类具有良好柔顺性能的机器人手臂，在很多应用领域具有突出的优势。
The robot arm actuated by pneumatic muscles is one kind of the robot arm with good compliance and it is superior to other robot arms in some cases.
在手爪的柔顺夹持控制方面，进行了以下几个方面的工作：设计了由四根气动肌肉驱动的仿人两指手爪结构；
For the finger grasping force control, the detailed work includes:The structure of humanoid two-fingers gripper is designed.
单独考虑气动肌肉的质量项并在动力学推导中将其看成沿圆柱体均匀分布的质点系，利用拉格朗日方程建立了气动肌肉质量项动力学模型。
This paper aimed to achieve the dynamics model of mass terms for PMAs. In the modeling, PMAs were considered as a system of particles which were distributed uniformly along a cylinder.
卡内基·梅隆大学的做法是开发软机器人废除齿轮，滑轮和硬体赞成面料，气球和气动人工肌肉轻塑复合材料。
Carnegie Mellon's approach is to develop soft robots that do away with gears and pulleys and hard bodies in favor of fabrics, balloons, and light plastic composites with pneumatic artificial muscles.
提出一种用气动人工肌肉驱动的仿人型机器人腿。
This paper presents the humanoid robotic leg that is driven by a pneumatic artificial muscle.
采用变结构控制对单根气动人工肌肉系统进行了实验研究，分析了气动人工肌肉系统的控制特性。
An experimental study of the pneumatic muscle control system was carried out based on Variable Structure control (VSC), and its control characteristics were analyzed.
该仿生机器人采用外置气源驱动气动人工肌肉实现仿生机器人在水中的前进、转弯和升沉运动。
The bionic robot adopts the external air supply to drive pneumatic artificial muscles, so as to realize moving forwards, turning and heave movement of the bionic robot in water.
针对气动人工肌肉位置控制系统，提出了两层滑模的变结构鲁棒控制策略，控制器的推导基于李亚普诺夫稳定性理论。
A two-folded sliding modes approach of pneumatic muscle actuator (PMA) position control system was proposed, and the controller was designed by using Lyapunov stability theory.
气动人工肌肉作为一种新型的气动执行元件，在服务型机器人中得到了越来越多的应用。
The pneumatic artificial muscles as one kind of new actuators are widely used in the application of service robots.
利用气动人工肌肉的柔顺性，克服了传统CPM机只提供刚性训练的弊端。
Using the compliance of the PMA has overcome the traditional CPM shortcoming of only providing rigid training.
用柔性执行器气动人工肌肉为新型执行器构建气动人工肌肉机械手系统，特别是多自由度的平台，是气动方向一项新的研究内容。
Using flexible actuator Pneumatic Muscle actuator as a new actuator to construct a manipulator system and a platform of multiple degrees of freedom is a new research field of gas dynamics.
提出将气动人工肌肉视为带有弹性负载的变截面气缸的观点，方便地建立了气动人工肌肉系统动态数学模型。
The dynamic model of PMA system was developed easily according to the new concept and the dynamic model of pneumatic cylinder.
气动人工肌肉是一种新型的拉伸型气动执行元件。
The pneumatic muscle actuator (PMA) is a novel pneumatic actuator, which can be pulled and pressed.
气动人工肌肉是一种新型的拉伸型气动执行元件。
The pneumatic muscle actuator (PMA) is a novel pneumatic actuator, which can be pulled and pressed.
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