Measurement and Modeling of McKibben Pneumatic Artificial Muscles.

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.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1992
Accession Number
ADA299458

Entities

People

  • Blake Hannaford
  • Ching-ping Chou

Organizations

  • University of Washington

Tags

Communities of Interest

  • Biomedical
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Actuators
  • Dynamic Range
  • Dynamic Response
  • Elastic Properties
  • Energy
  • Energy Conservation
  • Energy Conversion
  • Energy Efficiency
  • Energy Transfer
  • Equations
  • Fluid Dynamics
  • Gas Dynamics
  • High Pressure
  • Mechanical Properties
  • Mechanics
  • Rods
  • Skeletal Muscle

Readers

  • Computational Modeling and Simulation
  • Electrical Engineering
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Bayesian Inference
  • Autonomy