Proxy-Based Sliding Mode Control of a Manipulator Actuated by Pleated Pneumatic Artificial Muscles

• Lightweight manipulator actuated by Pleated Pneumatic Artificial Muscles

• Adaptable compliance and high power to weight ratio

• Safety is of primary importance• Proxy-Based Sliding mode control: improved

performance and safety

M. Van Damme, B. Vanderborght, R. Van Ham, B. Verrelst,F. Daerden, D. Lefeber

Vrije Universiteit Brussel, Department of Mechanical EngineeringMultibody Mechanics Research Group

michael.vandamme@vub.ac.be