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[129] Citation: Abstract
This paper reports on the design of a biorobotic actuator. Biological requirements are developed from published reports in the muscle
physiology literature whose parameters are extracted and used in a Hill
muscle model. Data from several vertebrate species (rat, frog, cat, and
human) are used to evaluate the performance of a McKibben pneumatic
actuator. The experimental results show the force-length properties of
the actuator are muscle-like, but the force-velocity properties are not. The design of a hydraulic damper with fixed orifices, placed in parallel with the McKi
bben actuator, is proposed to improve the force-velocity
performance. Simulation results of this practical design indicate a
significant improvement.
["I would like a hard copy of this report"]
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Updated: Tue Jul 15 23:54:51 2008
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