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[162] Citation: Abstract
Biorobotic research seeks to develop new robotic technologies modeled after
the performance of human and animal neuromuscular systems. The development of
one component of a biorobotic system, an artificial muscle and tendon, is
reported here. The device is based on known static and dynamic properties of
biological muscle and tendon that were extracted from the literature and used to
mathematically describe their force, length, and velocity relationships. A
flexible pneumatic actuator is proposed as the contractile element of the
artificial muscle and experimental results are presented that show the
force-length properties of the actuator are muscle-like, but the
force-velocity properties are not.
The addition of a hydraulic damper is proposed to improve the actuator's
velocity-dependent properties. Further, an artificial tendon is proposed
whosefunction is to serve as connective tissue between the artificial muscle and
a skeletal structure. A complete model of the artificial muscle-tendon system
is then presented which predicts the expected force-length-velocity performance
of the artificial system. Experimental results of the constructed device
indicate muscle-like performance in general: higher activation pressures yielded
higher output forces, faster concentric contractions resulted in lower force
outputs, faster eccentric contractions produced higher force outputs, and output
forces were higher at longer muscle lengths than shorter lengths.
["I would like a hard copy of this report"]
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Updated: Tue Aug 19 09:16:09 2008
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