Achievements and Developments of Hysteresis and Creep of Pneumatic Artificial Muscles

doi:10.16182/j.issn1004731x.joss.201803006

Abstract

Abstract: Regarding to the problems of hysteresis and creep, the developments and achievements of the research on pneumatic artificial muscles at home and abroad are systemically reviewed. The state of the art is summarized in terms of characteristics, reasons causing, modeling and control strategies based on the hysteresis and creep modeling. The problems in recent research are analyzed and the direction for further research is put forward. The theoretical study on hysteresis and creep of pneumatic artificial muscle is limited. The hysteresis modeling needs to consider the time-varied parameters caused by creep. Neural network modeling needs to solve the problem of multi loop identification. The control strategy based on inverse model compensation faces the problems of model complexity and parameter sensitivity.

Key words: pneumatic artificial muscle, hysteresis, creep, inverse model, control

CLC Number:

TH117.3

Xie Shenglong, Liu Haitao, Mei Jiangping. Achievements and Developments of Hysteresis and Creep of Pneumatic Artificial Muscles[J]. Journal of System Simulation, 2018, 30(3): 809-823.

References 97

[1]	Tsagarakis N G, Caldwell D G.Development and control of a ‘soft-actuated’ exoskeleton for use in physiotherapy and training[J]. Autonomous Robots (S0929-5593), 2003, 15(1): 21-33.
[2]	樊继壮, 仇裕龙, 张伟, 等. 仿青蛙游动机器人机构设计[J]. 机器人, 2015, 37(2): 168-175, 187.Fan J Z, Qiu Y L,Zhang W, et al. Mechanical Design of Frog Inspired Swimming Robot[J]. Robot, 2015, 37(2): 168-175, 187.
[3]	Vo-Minh T, Tjahjowidodo T, Ramon H, et al.A new approach to modeling hysteresis in a pneumatic artificial muscle using the Maxwell-Slip model[J]. IEEE/ASME Transactions on Mechatronics (S1083-4435), 2011, 16(1): 177-186.
[4]	Minh T V, Kamers B, Ramon H, et al.Modeling and control of a pneumatic artificial muscle manipulator joint-Part I: Modeling of a pneumatic artificial muscle manipulator joint with accounting for creep effect[J]. Mechatronics (S0957-4158), 2012, 22(7): 923-933.
[5]	张新良, 谭永红. 基于输入空间扩张的动态迟滞神经网络模型[J]. 自动化学报, 2009, 35(3): 319-323.Zhang X L, Tan Y H. Neural Network Model for the Dynamic Hysteresis Based on the Expanded Input Space[J]. Acta Automatica Sinica, 2009, 35(3): 319-323.
[6]	Daerden F, Lefeber D.Pneumatic artificial muscles: actuators for robotics and automation[J]. European journal of mechanical and environmental engineering (S2055-6551), 2002, 47(1): 11-21.
[7]	陶国良, 谢建蔚, 周洪. 气动人工肌肉的发展趋势与研究现状[J]. 机械工程学报, 2009, 45(10): 75-83.Tao G L, Xie J W, Zhou H. Research Achievements and Development Trends of Pneumatic Artificial Muscles[J]. Journal of Mechanical Engineering, 2009, 45(10): 75-83.
[8]	Kriwet A, Lorenz B. Actuating means [P]. US, US6840152.2005-1-11.
[9]	Mayergoyz I.Mathematical models of hysteresis and their applications[J]. Journal of Adhesion (S0021-8464), 2003, 19(2): 79-87.
[10]	Schindele D, Aschemann H.Model-based compensation of hysteresis in the force characteristic of pneumatic muscles[J]. IEEE Transactions on Industrial Electronics (S0278-0046), 2012, 61(61): 1-6.
[11]	Minh T V, Tjahjowidodo T, Ramon H, et al.Non-local memory hysteresis in a pneumatic artificial muscle (PAM).[C]//2009 17th Mediterranean Conference on Control & Automation (MED 2009), Piscataway, NJ, USA: IEEE, 2009, 2: 640-645.
[12]	Smagt P V D, Groen F, Schulten K. Analysis and control of a rubbertuator arm[J]. Biological Cybernetics (S0340-1200), 1996, 75(5): 433-440.
[13]	Andrikopoulos G, Nikolakopoulos G, Arvanitakis I, et al.Piecewise affine modeling and constrained optimal control for a pneumatic artificial muscle[J]. IEEE Transactions on Industrial Electronics (S0278-0046), 2014, 61(2): 904-916.
[14]	崔霞, 施光林, 沈伟. 基于分组数据处理神经网络气动人工肌肉迟滞特性[J]. 上海交通大学学报, 2012, 46(6): 931-935.Cui X, Shi G L, Shen W. Study on Hysteresis Pneumatic Artificial Muscle Based on Group Method of Data Handling Neural Network [J]. Journal of Shanghai Jiaotong University, 2012, 46(6): 931-935.
[15]	Hocking E G, Wereley N M.Analysis of nonlinear elastic behavior in miniature pneumatic artificial muscles[J]. Smart Materials & Structures (S0964-1726), 2013, 22(1): 1-14.
[16]	Sárosi J, Gyeviki J, Szabó G, et al.Laboratory investigations of fluid muscles. International Journal of Engineering[J]. Annals of Faculty of Engineering Hunedoara (S1584-2665), 2010, 8(1): 137-142.
[17]	Andrikopoulos G, Nikolakopoulos G, Manesis S.An experimental study on thermodynamic properties of pneumatic artificial muscles[C]//20th Mediterranean Conference on Control & Automation, Piscataway, NJ, USA: IEEE, 2012, 1: 1334-1340.
[18]	Diani J, Fayolle B, Gilormini P.A review on the Mullins effect[J]. European Polymer Journal (S0014-3057), 2009, 45(3): 601-612.
[19]	Lilly J H, Yang L.Sliding mode tracking for pneumatic muscle actuators in opposing pair configuration[J]. IEEE Transactions on Control Systems Technology (S1063-6536), 2005, 13(4): 550-558.
[20]	Inoue K.Rubbertuators and applications for robots [C]//Proceedings of the 4th international symposium on Robotics Research. Cambridge, USA: MIT Press, 1988: 57-63.
[21]	Caldwell D G, Medrano-Cerda G A, Goodwin M J. Braided pneumatic actuator control of a multi-jointed manipulator[C]//Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on. Piscataway, NJ, USA: IEEE, 1993: 423-428.
[22]	Amato F, Colacino D, Cosentino C, et al.Robust and optimal tracking control for manipulator arm driven by pneumatic muscle actuators[C]//Mechatronics (ICM), 2013 IEEE International Conference on. Piscataway, NJ, USA: IEEE, 2013: 827-834.
[23]	Aschemann H, Schindele D.Sliding-mode control of a high-speed linear axis driven by pneumatic muscle actuators[J]. IEEE Transactions on Industrial Electronics (S0278-0046), 2008, 55(11): 3855-3864.
[24]	Lilly J H.Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering (S1534-4320), 2003, 11(3): 333-339.
[25]	Chou C P, Hannaford B.Measurement and modeling of McKibben pneumatic artificial muscles[J]. IEEE Transactions on Robotics & Automation (S1042-296X), 1996, 12(1): 90-102.
[26]	Tondu B, Lopez P.Modeling and control of McKibben artificial muscle robot actuators[J]. Control Systems IEEE (ISSN 1066-033X), 2000, 20(2): 15-38.
[27]	Davis S, Caldwell D G.Braid effects on contractile range and friction modeling in pneumatic muscle actuators[J]. International Journal of Robotics Research (S0278-3649), 2006, 25(4): 359-369.
[28]	Van Damme M, Beyl P, Vanderborght B, et al.Modeling hysteresis in pleated pneumatic artificial muscles[C]// Robotics, Automation and Mechatronics, 2008 IEEE Conference on. Piscataway, NJ, USA: IEEE, 2008: 471-476.
[29]	Daerden F, Lefeber D.The concept and design of pleated pneumatic artificial muscles[J]. International Journal of Fluid Power (S1439-9776), 2001, 2(3): 41-50.
[30]	Minh T V, Tjahjowidodo T, Ramon H, et al.Control of a pneumatic artificial muscle (PAM) with model-based hysteresis compensation[C]//2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009). Piscataway, NJ, USA: IEEE, 2009, 2: 1082-1087.
[31]	Hassani V, Tjahjowidodo T, Do T N.A survey on hysteresis modeling, identification and control[J]. Mechanical systems and signal processing (S0888-3270), 2014, 49(1): 209-233.
[32]	Lin C J, Lin C R, Yu S K, et al.Hysteresis modeling and tracking control for a dual pneumatic artificial muscle system using Prandtl-Ishlinskii model[J]. Mechatronics (S0957-4158), 2015, 28: 35-45.
[33]	Lampaert V, Swevers J.Online identification of hysteresis functions with non-local memory[C]// Advanced Intelligent Mechatronics, Proceedings. 2001 IEEE/ASME International Conference on. IEEE, 2001, 2: 833-837.
[34]	Minh T V, Kamers B, Tjahjowidodo T, et al.Modeling torque-angle hysteresis in a pneumatic muscle manipulator[C]//Advanced Intelligent Mechatronics (AIM), 2010 IEEE/ASME International Conference on. Piscataway, NJ, USA: IEEE, 2010: 1122-1127.
[35]	Yeh T J, Wu M J, Lu T J, et al.Control of McKibben pneumatic muscles for a power-assist, lower-limb orthosis[J]. Mechatronics (S0957-4158), 2010, 20(6): 686-697.
[36]	Mayergoyz I D.Mathematical Models of Hysteresis and Their Applications [M]. 2nd ed. Academic Press, 2003: 472.
[37]	Kosaki T, Sano M.Control of a parallel manipulator driven by pneumatic muscle actuators based on a hysteresis model[J]. Journal of Environmental and Engineering (S0733-9372), 2011, 6(2): 316-327.
[38]	Kosaki T, Minesaki A, Sano M.Adaptive hysteresis compensation with a dynamic hysteresis model for control of a pneumatic muscle actuator[J]. Journal of Environmental and Engineering (S0733-9372), 2012, 7(1): 53-65.
[39]	Schreiber F, Sklyarenko Y, Schluter K, et al.Tracking control with hysteresis compensation for manipulator segments driven by pneumatic artificial muscles[C]// Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on. Piscataway, NJ, USA: IEEE, 2011: 2750-2755.
[40]	Schreiber F, Sklyarenko Y, Runge G, et al.Model-based controller design for antagonistic pairs of fluidic muscles in manipulator motion control[C]//Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on. Piscataway, NJ, USA: IEEE, 2012: 499-504.
[41]	李巍. 压电作动器迟滞非线性建模与补偿控制研究[D]. 华中科技大学, 2013.Li W. A Dissertation Submitted in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy in Engineering[D]. Huazhong University of Science & Technology, 2013.
[42]	Stakvik J Å.Identification, Inversion and Implementaion of the Preisach Hysteresis Model in Nanopositioning[D]. Trondheim, Norway: Norwegian University of Science and Technology, 2014.
[43]	Wei Tech Ang, Francisco Alija Garmón, Pradeep K, et al.Modeling of rate-dependent hysteresis in piezoelectric actuators[C]//Control Applications, 2008. CCA 2008. IEEE International Conference on. IEEE, 2008: 978-982.
[44]	Kastner M, Gattringer H, Naderer R.Evaluation of a joint hysteresis model in a robot actuated by pneumatic muscles[C]//9th International Conference on Informatics in Control, Automation and Robotics. SciTePress, 2012, 2: 230-235.
[45]	Sebastian Meo.Modellierung und Simulation der hysteretischen Kraft künstlicher, pneumatischer Muskeln basierend auf dem Prandtl-Ishlinskii-Modell in Matlab/ Simulink[D]. Bachelor Thesis, Universität Duisburg- Essen, 2013.
[46]	Kuhnen K.Kompensation komplexer gedächtnisbehafteter Nichtlinearitäten in Systemen mit aktiven Materialien[M]. Shaker-Verlag, Aachen, 2008.
[47]	王湘江, 王兴松. 基于KP 模型的 GMA 迟滞系统辨识与补偿[J]. 中国机械工程, 2008, 19(10): 1167-1173.Wang X J, Wang X S. GMA Hysteresis System Identification and Compensation Based on KP Model[J]. China Mechanical Engineering, 2008, 19(10): 1167-1173.
[48]	C Canudas de Wit, H Olsson, K J Astrom, et al. A new model for control of systems with friction[J]. IEEE Trans. Automatic Control (S0018-9286), 1995, 40(3): 419-425.
[49]	Astrom K J, Canudas-De-Wit C. Revisiting the LuGre friction model[J]. Control Systems IEEE (S1066-033X), 2008, 28(6):101-114.
[50]	Coleman B D, Hodgdon M L.A constitutive relation for rate-independent hysteresis in ferromagnetically soft materials[J]. International Journal of Engineering Science (S0020-7225), 1986, 24(6): 897-919.
[51]	Ikhouane F, Mañosa V, Rodellar J.Dynamic properties of the hysteretic Bouc-Wen model[J]. Systems & control letters (S0167-6911), 2007, 56(3): 197-205.
[52]	金冠霖. 以嵌入式系統實現人工肌肉氣壓缸之系統識別[D]. 台湾: 國立臺灣師範大學, 2013.Jin G L. System Identification of a Pneumatic Artificial Muscle Using an Embedded System[D]. Taiwan: National Taiwan Normal University, 2013.
[53]	Swevers J, Al-Bender F, Ganseman C G, et al.An integrated friction model structure with improved presliding behavior for accurate friction compensation[J]. IEEE Transactions on Automatic Control (S0018-9286), 2000, 45(4): 675-686.
[54]	Zhao J, Zhong J, Fan J.Position control of a pneumatic muscle actuator using RBF neural network tuned PID controller[J]. Mathematical Problems in Engineering (S1024-123X), 2015, 15(1): 1-16.
[55]	Zhong J, Fan J, Zhu Y, et al.One nonlinear PID control to improve the control performance of a manipulator actuated by a pneumatic muscle actuator[J]. Advances in Mechanical Engineering (S1687-8132), 2014, 501(8): 802-824.
[56]	Schindele D, Aschemann H.Model-based compensation of hysteresis in the force characteristic of pneumatic muscles[C]//Advanced Motion Control (AMC), 2012 12th IEEE International Workshop on. Piscataway, NJ, USA: IEEE, 2012: 1-6.
[57]	Aschemann H, Schindele D.Comparison of model-based approaches to the compensation of hysteresis in the force characteristic of pneumatic muscles[J]. IEEE Transactions on Industrial Electronics (S0278-0046), 2014, 61(7): 3620-3629.
[58]	Lampaert V, Swevers J, Al-Bender F.Comparison of model and non-model based friction compensation techniques in the neighbourhood of pre-sliding friction[C]//American Control Conference, 2004. Proceedings of the 2004. IEEE, 2004, 2: 1121-1126.
[59]	Jouppila V, Gadsden S A, Ellman A.Modeling and identification of a pneumatic muscle actuator system controlled by an On/Off solenoid valve[C]//Workshop Proceedings of the 7th International Fluid Power Conference. Piscataway, NJ, USA: IEEE, 2010: 167-182.
[60]	Sárosi J.New approximation algorithm for the force of fluidic muscles[C]//Applied Computational Intelligence and Informatics (SACI), 2012 7th IEEE International Symposium on. Piscataway, NJ, USA: IEEE, 2012: 229-233.
[61]	Szepe T, Sarosi J.Model based open looped position control of PAM actuator[C]//Intelligent Systems and Informatics (SISY), 2010 8th International Symposium on. Piscataway, NJ, USA: IEEE, 2010: 607-609.
[62]	Ganguly S, Garg A, Pasricha A, et al.Control of pneumatic artificial muscle system through experimental modelling[J]. Mechatronics (S0957-4158), 2012, 22(8): 1135-1147.
[63]	Itto T, Kogiso K.Hybrid modeling of McKibben pneumatic artificial muscle systems[C]//2011 IEEE International Conference on Industrial Technology (ICIT 2011). Piscataway, NJ, USA: IEEE, 2011: 65-70.
[64]	Li H B, Kawashima K, Tadano K, et al.Achieving haptic perception in forceps’ manipulator using pneumatic artificial muscle[J]. IEEE/ASME Transactions on Mechatronics (S1083-4435), 2013, 18(1): 74-85.
[65]	李春涛, 谭永红. 基于状态观测器的迟滞非线性系统输出反馈控制[J]. 控制与决策, 2004, 19(9): 967-972.Li C T, Tan Y H. Observer-based adaptive output feedback control of systems preceded by unknown hysteresis[J]. Control and Decision, 2004, 19(9): 967-972.
[66]	Xing K, Wang Y, Zhu Q, et al.Modeling and control of McKibben artificial muscle enhanced with echo state networks[J]. Control Engineering Practice (S0967-0661), 2012, 20(5): 477-488.
[67]	Ahn K K, Nguyen H T C. Intelligent switching control of a pneumatic muscle robot arm using learning vector quantization neural network[J]. Mechatronics (S0957-4158), 2007, 17(2): 255-262.
[68]	鲍春雷, 王斌锐, 金英连, 等. 气动肌肉关节的无模型自适应CMAC迟滞补偿控制[J]. 机器人, 2015, 37(3): 298-303.Bao C L, Wang B R, Jin Y L, et al. Model Free Adaptive CMAC Hysteresis Compensation Control of the Pneumatic Muscle Joint[J]. Robot, 2015, 37(3): 298-303.
[69]	Wei J D, Sun C T.Constructing hysteretic memory in neural networks[J]. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics (S1083-4419), 2000, 30(4): 601-609.
[70]	Zhao X, Tan Y.Neural network based identification of Preisach-type hysteresis in piezoelectric actuator using hysteretic operator[J]. Sensors and Actuators A: Physical (S0924-4247), 2006, 126(2): 306-311.
[71]	Bernard Y, Mendes E, Bouillault F.Dynamic hysteresis modeling based on Preisach model[J]. IEEE Transactions on Magnetics (S0018-9464), 2002, 38(2): 885-888.
[72]	郭咏新, 张臻, 毛剑琴, 等. 超磁致伸缩作动器的率相关Hammerstein模型与H∞鲁棒跟踪控制[J]. 自动化学报, 2014, 40(2): 197-207.Guo Y X, Zhang Z, Mao J Q, et al. Rate-dependent Hammerstein Model and H∞ Robust Tracking Control of Giant Magnetostrictive Actuators[J]. Acta Automatica Sinica, 2014, 40(2): 197-207.
[73]	宾鸿赞. 加工过程数控[M]. 2版. 武汉:华中科技大学出版社, 2004.Bin H Z. Digital Control of Machining Processes[M]. 2nd. Wuhan: Huazhong University of Science and Technology Press, 2004.
[74]	Do T N, Tjahjowidodo T, Lau M W S, et al. Nonlinear friction modelling and compensation control of hysteresis phenomena for a pair of tendon-sheath actuated surgical robots[J]. Mechanical Systems and Signal Processing (S0888-3270), 2015, 60: 770-784.
[75]	Aiaa. Control of a heavy-lift robotic manipulator with pneumatic artificial muscles[J]. Actuators (S2076-0825), 2014, 3(2): 41-65.
[76]	Li H B, Ganguly S, Nakano S, et al.Development of a light-weight forceps manipulator using pneumatic artificial rubber muscle for sensor-free haptic feedback[C]//1st International Conference on Applied Bionics and Biomechanics. Venice, Italy, 2010.
[77]	王贞艳, 张臻, 周克敏, 等. 压电作动器的动态迟滞建模与H∞鲁棒控制[J]. 控制理论与应用, 2014, 31(1): 35-41.Wang Z Y, Zhang Z, Zhou K M, et al. Dynamic hysteresis modeling and H-infinity robust control of piezoelectric actuators[J]. Control Theory & Applications, 2014, 31(1): 35-41.
[78]	Balasubramanian K, Rattan K S.Feedforward control of a non-linear pneumatic muscle system using fuzzy logic[C]//12th IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2003). Piscataway, NJ, USA: IEEE, 2003, 1: 272-277.
[79]	柏艳红. 气动伺服系统分析与控制[M]. 北京:冶金工业出版社, 2014.Bai Y H. Pneumatic Servo System Analysis and Control[M]. Beijing: Metallurgical Industry Press, 2014.
[80]	Ito A, Kiyoto K, Furuya N.Motion control of parallel manipulator using pneumatic artificial actuators[C]// Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on. Piscataway, NJ, USA: IEEE, 2010: 460-465.
[81]	Minh T V, Tjahjowidodo T, Ramon H, et al.Cascade position control of a single pneumatic artificial muscle- mass system with hysteresis compensation[J]. Mechatronics (S0957-4158), 2010, 20(3): 402-414.
[82]	Hildebrandt A, Sawodny O, Neumann R, et al.A cascaded tracking control concept for pneumatic muscle actuators[C]//European control conference (ECC) 2003. Piscataway, NJ, USA: IEEE, 2003.
[83]	Hildebrandt A, Sawodny O, Neumann R, et al.Cascaded control concept of a robot with two degrees of freedom driven by four artificial pneumatic muscle actuators[C]//American Control Conference 2005 (ACC). Piscataway, NJ, USA: IEEE, 2005: 680-685.
[84]	Krichel S V, Sawodny O, Hildebrandt A.Tracking control of a pneumatic muscle actuator using one servovalve[C]//American Control Conference (ACC), 2010. Piscataway, NJ, USA: IEEE, 2010: 4385-4390.
[85]	冯颖, 胡跃明, 苏春翌. 连续回滞系统的模型参考自适应控制[J]. 控制与决策, 2006, 21(12): 1402-1406.Feng Y, Hu Y M, Su C Y. Model Reference Adaptive Control of Continuous-time Hysteresis Systems[J]. Control and Decision, 2006, 21(12): 1402-1406.
[86]	Kimura T, Hara S, Fujita T, et al.Control for pneumatic actuator systems using feedback linearization with disturbance rejection[C]//American Control Conference, Proceedings of the 1995. Piscataway, NJ, USA: IEEE, 1995, 1: 825-829.
[87]	Kimura T, Hara S, Fujita T, et al.Feedback linearization for pneumatic actuator systems with static friction[J]. Control engineering practice (S0967-0661), 1997, 5(10): 1385-1394.
[88]	Repperger D W, Johnson K R, Phillips C A.A VSC position tracking system involving a large scale pneumatic muscle actuator[C]//37th IEEE Conference on Decision and Control. Piscataway, NJ, USA: IEEE, 1998, 4: 4302-4307.
[89]	Repperger D W, Johnson K R, Philips C A.Nonlinear feedback controller design of a pneumatic muscle actuator system[C]//1999 American Control Conference. Piscataway, NJ, USA: IEEE, 1999, 3: 1525-1529.
[90]	Amato F, Colacino D, Cosentino C, et al.Robust and optimal tracking control for manipulator arm driven by pneumatic muscle actuators[C]//Mechatronics (ICM), 2013 IEEE International Conference on. IEEE, 2013: 827-834.
[91]	Schindele D, Aschemann H.Sliding mode control applied to a novel linear axis actuated by pneumatic muscles[M]. INTECH Open Access Publisher, 2011.
[92]	Andrikopoulos G, Nikolakopoulos G, Manesis S.Incorporation of thermal expansion in static force modeling of Pneumatic Artificial Muscles[C]//Control and Automation (MED), 2015 23th Mediterranean Conference on. Piscataway, NJ, USA: IEEE, 2015: 414-420.
[93]	Krejci P, Kuhnen K.Inverse control of systems with hysteresis and creep[J]. IEE Proceedings-Control Theory and Applications (S0143-7054), 2001, 148(3): 185-192.
[94]	Hao L, Li Z.Modeling and adaptive inverse control of hysteresis and creep in ionic polymer-metal composite actuators[J]. Smart Materials and Structures (S0964-1726), 2010, 19(2): 025014.
[95]	Krejčí P, Al Janaideh M, Deasy F.Inversion of hysteresis and creep operators[J]. Physica B: Condensed Matter (S0921-4526), 2012, 407(9): 1354-1356.
[96]	马春红, 白少先, 康盼. 氟橡胶O型圈低压气体密封黏滞摩擦特性实验[J]. 摩擦学学报, 2014, 34(2): 160-164.Ma C H, Bai S X, Kang P. Experiment of Viscous Friction Characteristics of Fluorous Rubber O-rings at Low Gas Seal Pressure[J]. Tribology, 2014, 34(2): 160-164.
[97]	郭胤, 王家序, 李峰, 等. 弹性体摩擦的黏滞疲劳理论及实验研究[J]. 摩擦学学报, 2013, 33(5): 443-448.Guo Y, Wang J X, Li F, et al. Theory of Adhesion Hysteresis Fatigue of Elastomeric Tribology and Experimental Demonstration[J]. Tribology, 2013, 33(5): 443-448.