Bio-mimetic actuators: polymeric Pseudo Muscular Actuators and pneumatic Muscle Actuators for biological emulation

Caldwell, Darwin G.; Tsagarakis, Nikos G.; Medrano-Cerda, Gustavo A.

doi:10.1016/s0957-4158(99)00071-9

Cited by 67 publications

(49 citation statements)

References 6 publications

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“…The power to weight ratio of a typical pneumatic Muscle Actuator is 500-2kW/Kg [5]. However, if the valve weight of 86g determined above is included in this the power/weight ratio is reduced by approximately one third for a typical actuator (50cm long with a diameter of 50mm) weighing 150g.…”

Section: A Valve Weightmentioning

confidence: 99%

“…The valves used in previous projects [5][8] [11] and in the pneumatic biped described in [6] are the MATRIX 750 [7] series and provide reasonable flow, power and weight characteristics. However they are far from an ideal solution.…”

Section: Valvesmentioning

confidence: 99%

“…When studying the performance of pMA it can be seen that it equals, or betters, biological muscle in a number of categories. Both systems have comparable displacement, efficiency, bandwidth [2], [3] and control characteristics [4] as well as both having compliant operation [5]. The pneumatic system, however, offers vastly superior power/weight and force/cross sectional area performance than the organic system [5] making it ideally suited to humanoid applications [6].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

pneumatic Muscle Actuators for Humanoid applications - Sensor and Valve Integration

Davis¹,

Caldwell²

2006

2006 6th IEEE-RAS International Conference on Humanoid Robots

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Section: A Valve Weightmentioning

confidence: 99%

Section: Valvesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

pneumatic Muscle Actuators for Humanoid applications - Sensor and Valve Integration

Davis¹,

Caldwell²

2006

2006 6th IEEE-RAS International Conference on Humanoid Robots

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“…The 'solvent-sensitive muscle' cell imagined by Caldwell (Caldwell & Taylor, 1990), (Caldwell et al, 2000) is made of parallel PAA/PVA strips inside a container where an acetone and 4 molar NaCl solution can alternatively circulate. Originally (Caldwell & Taylor, 1990) 100 μm thick strips were used, but more recently it was shown (Caldwell et al, 2000) that it was possible to optimize the thickness choice so as to highly increase contraction velocity without losing in stress: a 50 μm thickness gives a 43 %/s strain per s -instead of 11%/s for 100 μm strips and close to slow movements of the natural muscle -for a 30N/cm 2 . With a 43% maximum contraction strain, the performances approach slow movements of the natural muscle.…”

Section: Ph-sensitive Muscles and Solvent-sensitive Musclesmentioning

confidence: 99%

Artificial Muscles for Humanoid Robots

Tondu¹

2007

Humanoid Robots, Human-Like Machines

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The question of actuator choice for humanoid robotsIt is important to recall that humanoid robot technology derives from the technology of industrial robots. It is obvious that the developments of bipedal robots such as the integration of robot-upper limbs to complex anthropomorphic structures have benefited from progress in mechanical structures, sensors and actuators used in industrial robot-arms. A direct link is sometimes made between the technology of redundant robot-arms and humanoid robots as underlined in some technical documents of the Japanese AIST where it clearly appears that the HRP2 humanoid robot upper limb is directly derived from the Mitsubshi PA10 7R industrial robot-arm. D u e t o i t s h i g h n u m b e r o f d e g r e e s o f f r e e d o m i n c o m p a r i s o n t o i n d u s t r i a l r o b o t s , ahumanoid robot requires great compactness of all actuator and sensor components. This is why we believe that the harmonic drive technology associated with direct current electric motor technology has played a non-negligible part in humanoid robot development. The DC actuator offers the great advantage of being a straightforward technology, associated with simple and well-known physical models, its integration into mobile robots benefits from new developments in embedded batteries. However, its low maximum-torque-onmass and maximum-torque-on-volume ratios are a serious drawback for its use in direct drive apparatuses. On the other hand, the ability of electric motors to generate very high velocities in comparison with moderate jointed velocities needed by industrial robot-arms and more by jointed anthropomorphic limbs, gives the possibility of using high ratio speed reducers to amplify motor-torque. Moreover, the choice of a high ratio speed reducer offers the advantage of masking inertial perturbations such as external torque perturbations. The technical achievement of such ratios induces specific mechanical difficulties due to the bulkiness of successive gears; harmonic drive technology -represented for example by Harmonic Drive AG -resolves this problem in a very elegant manner: the harmonic drive and the actuator fit together without excessive increase in mass and volume in comparison with the actuator alone. It can be considered that most of today's humanoid robots are actuated by DC motors with harmonic drives (this actuation mode is mentioned, for example, by Honda from its first paper about the P2 robot onwards (Hirai et al., 1998) and then in the official ASIMO web site, as well as in papers concerning other Japanese and European humanoid robots). But if this technology simplifies actuator mechanical integration and leads to the use of simple joint linear control, despite the highly non-linear character of robot dynamics, it is well-known that the use of a speed reducer multiplies the

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“…Consequently, such an actuator already finds many applications in the field of medical engineering, medical welfare system. For examples, the upper limb muscle actuator [1], powerassist wear [2], bio-mimetic actuators [3], rehabilitation robot [4,5], biceps and triceps actuator [6], and so on. In this paper, a novel human-friendly artificial flexible robot arm using four parallel-connected PMAs is developed.…”

Section: Introductionmentioning

confidence: 99%

An artificial flexible robot arm based on pneumatic muscle actuators

Renn

2017

MATEC Web Conf.

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Abstract. The purpose of this paper is to develop a novel human-friendly artificial flexible robot arm using four parallel-connected pneumatic muscle actuators (PMAs). The PMA is a flexible silicone rubber actuator which has some behaviors nearest to the real biological muscle including translational and rotational motions. An inverse kinematic model for the motion control is also developed. Finally, from experiment results, it is proved that not only the axial contraction control of a single PMA but also the attitude control of the whole pneumatic flexible robot arm using PID controller are satisfactory.

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Bio-mimetic actuators: polymeric Pseudo Muscular Actuators and pneumatic Muscle Actuators for biological emulation

Cited by 67 publications

References 6 publications

pneumatic Muscle Actuators for Humanoid applications - Sensor and Valve Integration

pneumatic Muscle Actuators for Humanoid applications - Sensor and Valve Integration

Artificial Muscles for Humanoid Robots

An artificial flexible robot arm based on pneumatic muscle actuators

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