2024
DOI: 10.1088/1748-3190/ad649d
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Investigation of the tradeoffs between tracking performance and energetics in heterogeneous variable recruitment fluidic artificial muscle bundles

Nicholas Mazzoleni,
Matthew Bryant

Abstract: In traditional hydraulic robotics, actuators must be sized for the highest possible load, resulting in significant energy losses when operating in lower force regimes. Variable recruitment fluidic artificial muscle (FAM) bundles offer a novel bio-inspired solution to this problem. Divided into individual MUs, each with its own control valve, a variable recruitment FAM bundle uses a switching control scheme to selectively bring MUs online according to load demand. To date, every dynamic variable recruitment stu… Show more

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