Measurement and Modeling of McKibben Pneumatic Artificial Muscles

Chou, C.P. and Hannaford, B. (1996) Measurement and Modeling of McKibben Pneumatic Artificial Muscles. IEEE Transactions on Robotics and Automation, 12 (1). pp. 90-102.

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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.

Item Type: Article
Subjects: Z Other
Divisions: Department of Electrical Engineering
Depositing User: Margaret Thompson
Date Deposited: 07 Jul 2015 21:23
Last Modified: 07 Jul 2015 21:23
URI: http://brl.ee.washington.edu/eprints/id/eprint/14

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