{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,12]],"date-time":"2026-03-12T05:44:02Z","timestamp":1773294242854,"version":"3.50.1"},"reference-count":51,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2009,2,1]],"date-time":"2009-02-01T00:00:00Z","timestamp":1233446400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2009,2]]},"abstract":"<jats:p> For a robotic system that shares its workspace with humans and physically interacts with them, safety is of paramount importance. In order to build a safe system, safety has to be considered in both hardware and software (control). In this paper, we present the safe control of a two-degree-of-freedom planar manipulator actuated by Pleated Pneumatic Artificial Muscles. Owing to its low weight and inherent compliance, the system hardware has excellent safety characteristics. In traditional control methods, safety and good tracking are often impossible to combine. This is different in the case of Proxy-Based Sliding Mode Control (PSMC), a novel control method introduced by Kikuuwe and Fujimoto. PSMC combines responsive and accurate tracking during normal operation with smooth, slow and safe recovery from large position errors. It can also make the system behave compliantly to external disturbances. We present both task- and joint-space implementations of PSMC applied to the pneumatic manipulator, and compare their performance with PID control. Good tracking results are obtained, especially with the joint-space implementation. Safety is evaluated by means of the Head Injury Criterion and by the maximum interaction force in the case of collision. It is found that in spite of the hardware safety features, the system is unsafe when under PID control. PSMC, on the other hand, provides increased safety as well as good tracking. <\/jats:p>","DOI":"10.1177\/0278364908095842","type":"journal-article","created":{"date-parts":[[2009,1,22]],"date-time":"2009-01-22T14:53:13Z","timestamp":1232635993000},"page":"266-284","source":"Crossref","is-referenced-by-count":106,"title":["Proxy-based Sliding Mode Control of a Planar Pneumatic Manipulator"],"prefix":"10.1177","volume":"28","author":[{"given":"Mich\u00e4el","family":"Van Damme","sequence":"first","affiliation":[{"name":"Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussel, Belgium,"}]},{"given":"Bram","family":"Vanderborght","sequence":"additional","affiliation":[{"name":"Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussel, Belgium"}]},{"given":"Bjorn","family":"Verrelst","sequence":"additional","affiliation":[{"name":"Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussel, Belgium"}]},{"given":"Ronald","family":"Van Ham","sequence":"additional","affiliation":[{"name":"Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussel, Belgium"}]},{"given":"Frank","family":"Daerden","sequence":"additional","affiliation":[{"name":"Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussel, Belgium"}]},{"given":"Dirk","family":"Lefeber","sequence":"additional","affiliation":[{"name":"Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussel, Belgium"}]}],"member":"179","published-online":{"date-parts":[[2009,2,1]]},"reference":[{"issue":"2","key":"atypb1","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1109\/MRA.2004.1310939","volume":"11","author":"Bicchi, A.","year":"2004","journal-title":"IEEE Robotics and Automation Magazine"},{"key":"atypb2","volume-title":"Proceedings of the International Symposium on Robotics Research","author":"Bicchi, A."},{"key":"atypb3","volume-title":"Proceedings of the International Conference on Systems","author":"Caldwell, D.G."},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/37.341863"},{"key":"atypb5","volume-title":"Proceedings of the 2001 IEEE International Conference on Control Applications","author":"Carbonell, P."},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/70.481753"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1115\/1.2168474"},{"key":"atypb8","volume-title":"Conception and realization of pleated pneumatic artificial muscles and their use as compliant actuation elements. 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