Predictive Functional Control System for Stroke Control of a Pneumatic Tendon-driven Balloon Actuator

  • Jun-ya Nagase
  • Toshiyuki Satoh
  • Norihiko Saga
  • Koichi Suzumori
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)


In recent years, Japanese society has been aging, engendering a labor shortage of young workers. Robots are therefore expected to be useful to perform tasks such as day-to-day work support for elderly people. Consequently, a tendon-driven balloon actuator has been developed for a robot hand in such environments. This study evaluated stroke control characteristics of a balloon actuator using a predictive functional control (PFC) system. Predictive functional control, a model based on predictive control (MPC) schemes, predicts the future outputs of the actual plant over the prediction horizon and computes the control effort over the control horizon at every sampling instance. Herein, PFC control performance of a one-link finger using a pneumatic balloon actuator is reported.


Joint Angle Reference Trajectory Coincidence Point Robot Hand Tension Spring 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. J. Y. Dieulot, T. Benhammi, F. Colas, P. J. Barre, Composite predictive functional control strategies, In Application to positioning axes, International Journal of Computers, Communications and Control, Vol. III, No.1, pages 41–50, 2008.Google Scholar
  2. J. Nagase, N. Saga, N. Saito, Development of a Tendon Driven Robot Hand Using Pneumatic Balloons, In Proc. of 1st International Conference on Applied Bionics and Biomechanics, pages 47–54, 2010Google Scholar
  3. J. Richalet, S. Abu el Ata-Doss, C. Arber, H.B. Kuntze, A. Jacubasch, W. Schill, Predictive functional control: application to fast and accurate robot, In Proc. of IFAC 10th World Congress, pages 251-259, 1987.Google Scholar
  4. N. Saga, J. Nagase, Y. Kondo, Development of a Tendon -Driven System Using a Pneumatic Balloon, In Journal of Robotics and Mechatronics, Vol.18, No.2, pages 139-145, 2006.Google Scholar
  5. T. Satoh, N. Saito, N. Saga, Predictive functional control with disturbance observer for pneumatic artificial muscle actuator, In Proc. of the 1st International Conference on Applied Bionics and Biomechanics, 2010.Google Scholar
  6. K. Suzumori, S. Iikura, H. Tanaka, Applying a Flexible Microactuator to Robotic Mechanisms, In I EEE Control Systems, Vol.12, No.1, pages 21– 27, 1992Google Scholar

Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Jun-ya Nagase
    • 1
  • Toshiyuki Satoh
    • 2
  • Norihiko Saga
    • 3
  • Koichi Suzumori
    • 4
  1. 1.Department of Mechanical and Systems EngineeringRyukoku UniversityShigaJapan
  2. 2.Faculty of Systems Science and TechnologyAkita Prefectural UniversityAkitaJapan
  3. 3.Department of Human System InteractionKwansei Gakuin UniversityHyogoJapan
  4. 4.Division of Manufacturing System and Physical ScienceOkayama UniversityOkayamaJapan

Personalised recommendations