Closed-Loop Pneumatic Muscle Actuator (PMA) Control System – Group 57

This project demonstrates the design and implementation of a closed-loop pneumatic muscle actuator (PMA) control system developed by Group 17 from the Faculty of Engineering, Mechatronics and Robotics at Swinburne University of Technology.

The system uses a Python-based PID controller to regulate a Festo proportional valve, controlling airflow into a Festo pneumatic muscle actuator. Real-time feedback is measured using an LVDT displacement sensor, allowing precise tracking of user-defined setpoints.

The Arduino Uno serves as the main interface, converting control signals via a DAC converter and acquiring sensor feedback through its ADC channel. The resulting displacement and error are displayed in a Matplotlib real-time plot, alongside a live user setpoint input interface.

Experimental results show the actuator achieving low steady-state error with smooth tracking performance. Some damping and hysteresis are observed, consistent with the nonlinear elastic behavior of pneumatic muscle actuators.

This setup demonstrates a low-cost, adaptable, and reliable feedback control system suitable for research and industrial applications in soft robotics and automation.