CONTROL DEVICE, CONTROL METHOD AND CONTROL PROGRAM FOR PNEUMATIC ARTIFICIAL MUSCLE DRIVE MECHANISM

摘要

A control device for a drive mechanism (101) driven by a pneumatic artificial muscle is provided with a pressure control means (203) for controlling the pressure of a pneumatic artificial muscle (6a, 6b), a target pressure calculation means (104) for calculating a target pressure (Pd) for the pneumatic artificial muscle for controlling the movement of the drive mechanism on the basis of a pneumatic artificial muscle model, a pneumatic artificial muscle model error estimation means (103) for estimating variation over time of shrinkage rate error between the pneumatic artificial muscle and the pneumatic artificial muscle model, a pneumatic artificial muscle model update means (106) for updating the pneumatic artificial muscle model to reflect the variation over time based on the results estimated by the pneumatic artificial muscle model error estimation means, and a service prediction means (108) for predicting the service life of the pneumatic artificial muscle based on the results estimated by the pneumatic artificial muscle model error estimation means.