Static and Dynamic Characteristics of McKibben Pneumatic Artificial Muscles

Chou, C.P. and Hannaford, B. (1994) Static and Dynamic Characteristics of McKibben Pneumatic Artificial Muscles. In: Proc. IEEE Intl. Conf. on Robotics and Automation.

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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: Conference or Workshop Item (Paper)
Subjects: A Neural Engineering > A Neural Engineering (General)
A Neural Engineering > AG Artificial Muscle
Divisions: Department of Electrical Engineering
Depositing User: Blake Hannaford
Date Deposited: 04 Nov 2015 23:34
Last Modified: 04 Nov 2015 23:37
URI: http://brl.ee.washington.edu/eprints/id/eprint/273

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