Accounting for Elastic Energy Storage in McKibben Artificial Muscle Actuators

Klute, G.K. and Hannaford, B. (2000) Accounting for Elastic Energy Storage in McKibben Artificial Muscle Actuators. ASME Journal of Dynamic Systems, Measurements, and Control, 122 (2). pp. 386-388.

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Abstract

The McKibben artificial muscle is a pneumatic actuator whose properties include a very high force to weight ratio. This characteristic makes it very attractive for a wide range of applications such as mobile robots and prosthetic appliances for the disabled. In this paper, after reviewing previous attempts at modeling, we present a model that includes a non-linear, Mooney-Rivlin mathematical description of the actuators internal bladder. Experimental results show that the model provides significant improvement in the ability to predict output force as a function of input pressure and actuator length. However, a discrepancy between model and experiment, albeit smaller than previous models, still exists. A number of frictional factors may be responsible for this discrepancy, which we empirically model as a function of pressure. The end result is a model that incorporates properties of the actuator's exterior braid kinematics, interior bladder materials, and an empirical component describing lumped frictional effects that accurately predicts performance (r2<0.96) for actuators of three different sizes.

Item Type: Article
Subjects: Z Other
Divisions: Department of Bioengineering
Depositing User: Mohammad Haghighipanah
Date Deposited: 30 Jul 2015 17:58
Last Modified: 30 Jul 2015 17:58
URI: http://brl.ee.washington.edu/eprints/id/eprint/233

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