The Concept and Design of Pleated Pneumatic Artificial Muscles

Daerden, F.; Lefeber, Dirk

doi:10.1080/14399776.2001.10781119

Cited by 195 publications

(160 citation statements)

References 10 publications

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“…A newer design known as "Pleated Pneumatic Artificial Muscles (PPAM)" was introduced by Daerden and Lefeber [19,21]. The design is similar to the Yarlott muscle.…”

Section: Flexible Fluidic "Contraction" Actuatorsmentioning

confidence: 99%

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Gaiser¹,

Wiegand²,

Ivlev³

et al. 2012

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges

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“…A newer design known as "Pleated Pneumatic Artificial Muscles (PPAM)" was introduced by Daerden and Lefeber [19,21]. The design is similar to the Yarlott muscle.…”

Section: Flexible Fluidic "Contraction" Actuatorsmentioning

confidence: 99%

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Gaiser¹,

Wiegand²,

Ivlev³

et al. 2012

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges

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“…In both spectra, all characteristic absorption bands for PDMS were observed: CH 3 24 . Similarity of the spectra was measured using QCheck tool (OMNIC software).…”

Section: Ft-irmentioning

confidence: 95%

Novel biocompatible transversal pneumatic artificial muscles made of PDMS/PET satin composite

Szmechtyk

Sienkiewicz

Koter

et al. 2016

Polish Journal of Chemical Technology

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In this study novel transversal pneumatic artifi cial muscles (TPAM), made from composite -poly(dimethylsiloxane) (PDMS) matrix membrane and poly(ethylene terephthalate) (PET) satin reinforcement, are presented. Miniature TPAM consists of a fl exible internal braid (IB) reinforcing the membrane and the external braid (EB). EB, with fi bers arranged transversely to the IB, is placed laterally. Differently prepared TPAMs were tested for their effectiveness as actuators for robot drive and the PDMS/PET composite suitability was evaluated for applications in human gastrointestinal tract (chemical resistance, thermal characteristic). FT-IR spectra of the composite were compared for study PDMS impregnation process of PET satin and effect of immersion in selected solution. The composite shows outstanding biocompatibility and the muscles have competitive static load characteristics in comparison with other pneumatic artifi cial muscles (PAM). These results lead to believe, that in the near future painless examination of the gastrointestinal tract using a secure robot will be possible.

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“…It however captures three main characters which found the static analogy between McKibben muscle and natural skeletal muscle : 1. Static tension is proportional to P which can so play the part of the neural activation u (let us recall that static roll tension is proportional to the electric tension squared due to the equation (1) (Saga et al, 2005) , see also (Nakamura et al, 2003)) -this type of muscle is as 'old' as McKibben muscle (Matsushita, 1968) -(c) Typical membrane case : pleated muscle (from (Daerden & Lefeber, 2001)) (see text)…”

Section: Pneumatic 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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The Concept and Design of Pleated Pneumatic Artificial Muscles

Cited by 195 publications

References 10 publications

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Novel biocompatible transversal pneumatic artificial muscles made of PDMS/PET satin composite

Artificial Muscles for Humanoid Robots

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