Title :
Measurement and modeling of McKibben pneumatic artificial muscles
Author :
Chou, Ching-Ping ; Hannaford, Blake
Author_Institution :
Dept. of Electr. Eng., Washington Univ., Seattle, WA, USA
fDate :
2/1/1996 12:00:00 AM
Abstract :
This paper reports mechanical testing the modeling results for the McKibben artificial muscle pneumatic actuator. This device contains an expanding tube surrounded by braided cords. We report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models. The results are briefly compared with human muscle properties to evaluate the suitability of McKibben actuators for human muscle emulation in biologically based robot arms
Keywords :
actuators; pneumatic control equipment; McKibben pneumatic artificial muscles; actuator; biologically based robot arms; braided cords; dynamic length-tension testing; expanding tube; linearized model; mechanical testing; static length-tension testing; Biological system modeling; Bladder; Circuits; Fitting; Humans; Muscles; Pneumatic actuators; Robots; Testing; Yarn;
Journal_Title :
Robotics and Automation, IEEE Transactions on
