{'fraction_non_alphanumeric': 0.02526002971768202, 'fraction_numerical': 0.0, 'mean_word_length': 5.419047619047619, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 1, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Dynamic behavior of pneumatic systems for lower extremity extenders

This article models a pneumatic system consisting of double-acting or single acting cylinder and a servovalve with the goal of providing an insight into pneumatic design and control requirements for Berkeley Exoskeleton (http://www.me.berkeley.edu/hel/). The modeling approach uses the thermodynamic principles of energy and mass conservation. We demonstrate that pneumatic systems suffer from two effects: unwanted dynamics due to gas compressibility and discontinuous nonlinearities in the servovalves due to choked flow. To obtain a wide control bandwidth, one needs to model these effects thoroughly.