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[080] Citation: Abstract
This paper reports mechanical testing and modeling results for
the McKibben artificial muscle pneumatic actuator. This device, first
developed in the 1950's, contains an expanding tube surrounded by braided
cords. We report static and dynamic length-tension testing results and
derive a linearized model of these properties for three different models.
The results are briefly compared with human muscle properties to evaluate
the suitability of McKibben actuators for human muscle emulation in
biologically based robot arms.
["I would like a hard copy of this report"]
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Updated: Tue Jul 15 23:54:50 2008
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