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[150] Citation: B. Hannaford, G. Klute, K. Jaax,
'Bio-inspired Actuation and Sensing,'
Robotics, August 2000), vol. 11, pp. 267-272, Kluwer Academic Publishers, Boston/Dordrecht/London, November 2001.
Abstract
The superb ability of animals to negotiate rough terrain has caused
engineers to focus on mechanical properties of muscle and other unique
features in order to design improved robots for exploration. This paper
reviews recent work in artificial muscle actuators, as well as a new
sensor based on a robotic model of the muscle spindle cell. The
actuator contains a pneumatic force generator in parallel with a
non-linear damping element and in series with a non-linear elastic
"tendon". Work loop experiments were performed to characterize this
actuator under conditions similar to real locomotion at different
speeds. The robotic muscle spindle is an 8x1 cm device which simulates
the response of the physiological muscle spindle to stretch. Its
non-linear properties are thought to contribute to stable accurate
control over a wide range of motion.
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Updated: Tue Jul 15 23:54:51 2008
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