Pressurized artificial muscles

Zhang, Zhiye; Philen, Michael

doi:10.1177/1045389x11420592

Cited by 53 publications

(36 citation statements)

References 89 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the last two decades, a wide range of artificial muscles has been introduced and developed [7,10]. Pneumatic artificial muscles (PAMs) in particular have shown a great capability for fabricating robots and surgery tools because of their similarity to biological muscles as well as high actuation force per mass [11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system

Sangian

Naficy

Spinks

et al. 2015

Sensors and Actuators A: Physical

View full text Add to dashboard Cite

Fluidic McKibben artificial muscles are one of the most popular biomimetic actuators, showing similar static and dynamic performance to skeletal muscles. In particular, their pneumatic version offers high-generated force, high speed and high strain in comparison to other actuators. This paper investigates the development of a small-size, fully enclosed, hydraulic McKibben muscle powered by a low voltage pump. Hydraulic McKibben muscles with an outside diameter of 6 mm and a length ranging from 35 mm to 80 mm were investigated. These muscles are able to generate forces up to 26 N, strains up to 23%, power to mass of 30 W/kg and tension intensity of 1.78 N/mm 2 at supply water pressure of 2.5 bar. The effects of injected pressure and inner tube stiffness on the actuation strain and force generation were studied and a simple model introduced to quantitatively estimate force and stroke generated for a given input pressure. This unique actuation system is lightweight and can be easily modified to be employed in small robotic systems where large movements in short time are required.  Effect of the bladder stiffness on Muscle performance is studied. A new and more accurate equation to predict the muscle performances is proposed. A sealed actuation system suitable for robotic machines with low voltage water pump is introduced. AbstractFluidic McKibben artificial muscles are one of the most popular biomimetic actuators, showing similar static and dynamic performance to skeletal muscles. In particular, their pneumatic version offers high-generated force, high speed and high strain in comparison to other actuators. This paper investigates the development of a small-size, fully enclosed, hydraulic McKibben muscle powered by a low voltage pump. Hydraulic McKibben muscles with an outside diameter of 6 mm and a length ranging from 35 mm to 80 mm were investigated. These muscles are able to generate forces up to 26 N, strains up to 23%, power to mass of 30 W/kg and tension intensity of 1.78 N/mm 2 at supply water pressure of 2.5 Bar. The effects of injected pressure and inner tube stiffness on the actuation strain and force generation were studied and a simple model introduced to quantitatively estimate force and stroke generated for a given input pressure. This unique actuation system is lightweight and can be easily modified to be employed in small robotic systems where large movements in short time are required.

show abstract

Section: Introductionmentioning

confidence: 99%

The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system

Sangian

Naficy

Spinks

et al. 2015

Sensors and Actuators A: Physical

View full text Add to dashboard Cite

show abstract

“…For example, pneumatic muscle has been used to drive lower-limb prosthetic devices [9,10] and rehabilitation exoskeleton systems [11,12]. Please see the review paper by Zhang and Philen [13] for more robotic applications of pneumatic muscle actuators.…”

Section: Introductionmentioning

confidence: 99%

Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems

Zheng

Shen

2013

Actuators

View full text Add to dashboard Cite

This paper presents a new type of muscle-like actuator, namely double-acting (DA) sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc.). Developed based on the traditional pneumatic muscle actuator, the new DA sleeve muscle incorporates a unique insert at the center. With the insert occupying the central portion of the internal volume, this new actuator enjoys multiple advantages relative to the traditional pneumatic muscle, including a consistent increase of force capacity over the entire range of motion, and a significant decrease of energy consumption in operation. Furthermore, the insert encompasses an additional chamber, which generates an extension force when pressurized. As such, this new actuator provides a unique bi-directional actuation capability, and, thus, has a potential to significantly simplify the design of a muscle actuator-powered robotic system. To demonstrate this new actuator concept, a prototype has been designed and fabricated, and experiments conducted on this prototype demonstrated the enhanced force capacity and the unique bi-directional actuation capability.

show abstract

“…The model was later improved by Reynolds et al [14] to include a contractile element with pressuredependent coefficients. Refer to [15] for more detailed review.…”

mentioning

confidence: 99%

Adaptive Servomechanism of Pneumatic Muscle Actuators With Uncertainties

Zhu

Shi

Chen

et al. 2017

IEEE Trans. Ind. Electron.

View full text Add to dashboard Cite

Precise control of a pneumatic muscle actuator is a challenging problem, due to its nonlinear and time-varying characteristics. Specifically, it can be modeled as parallel connection of a nonlinear friction force, a nonlinear spring, and a nonlinear contractile element. It is difficult to identify the coefficients associated with these elements within a certain precision as they change along the course of continuous use. In this paper, we introduce a novel adaptive servomechanism controller and rigorously prove that the trajectory tracking can be achieved with a desirable error bound. Moreover, an experiment platform is set up to demonstrate the effectiveness of the proposed controller in real applications. In particular, the proposed adaptive controller significantly improves the tracking accuracy and achieves better performance than non-adaptive and PID controllers and other existing controllers in literature.

show abstract

Pressurized artificial muscles

Cited by 53 publications

References 89 publications

The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system

The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system

Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems

Adaptive Servomechanism of Pneumatic Muscle Actuators With Uncertainties

Contact Info

Product

Resources

About