Control System of Artificial Chemico-Mechanical Muscle. Medical Robotics Application

Currently McKibben´s pneumatic muscle shows a great functional analogy to the skeletal muscle. It readily enables to motorize the arms of robots in a closer manner to the human arm than traditional robots. However, the dependence of McKibben´s pneumatic muscle with respect to pneumatic source under pressure limits its application to the motorization of arms to fixed station. What is missing with the McKibben´s pneumatic muscle is an efficient energy autonomy of the type required in the current project of chemico-mechanical artificial muscle. This present work will focus on an alternative way in which biochemical energy is transformed into osmotic energy and then into mechanical energy by means of a chemico-mechanical muscle and application to medical robotics