McKibben Artificial Muscles: Pneumatic Actuators with Biomechanical Intelligence

Klute, G.K. and Czerniecki, J.M. and Hannaford, B. (1999) McKibben Artificial Muscles: Pneumatic Actuators with Biomechanical Intelligence. IEEE/ASME 1999 Intl. Conf. on Advanced Intelligent Mechatronics.

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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 McKibben actuator, is proposed to improve the force-velocity performance. Simulation results of this practical design indicate a significant improvement.

Item Type: Article
Subjects: Z Other
Divisions: Department of Electrical Engineering
Depositing User: Muneaki Miyasaka
Date Deposited: 27 Jul 2015 23:45
Last Modified: 27 Jul 2015 23:45
URI: http://brl.ee.washington.edu/eprints/id/eprint/201

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