Journal ArticleDOI
Measurement and modeling of McKibben pneumatic artificial muscles
Ching-Ping Chou,Blake Hannaford +1 more
- Vol. 12, Iss: 1, pp 90-102
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TLDR
Mechanical testing the modeling results for the McKibben artificial muscle pneumatic actuator, which contains an expanding tube surrounded by braided cords, and a linearized model of these properties for three different models is derived.Abstract:
This paper reports mechanical testing the modeling results for the McKibben artificial muscle pneumatic actuator. This device 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.read more
Citations
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Journal ArticleDOI
Design, fabrication and control of soft robots
Daniela Rus,Michael T. Tolley +1 more
TL;DR: This Review discusses recent developments in the emerging field of soft robotics, and explores the design and control of soft-bodied robots composed of compliant materials.
Journal ArticleDOI
Pneumatic Networks for Soft Robotics that Actuate Rapidly
Bobak Mosadegh,Bobak Mosadegh,Panagiotis Polygerinos,Christoph Keplinger,Sophia W Wennstedt,Robert F. Shepherd,Unmukt Gupta,Jongmin Shim,Katia Bertoldi,Conor J. Walsh,Conor J. Walsh,George M. Whitesides,George M. Whitesides +12 more
TL;DR: In this article, a pneumatic actuator can bend from a linear to a quasicircular shape in 50 ms when pressurized at Δ P = 345 kPa.
Journal ArticleDOI
A survey on robotic devices for upper limb rehabilitation
Pawel Maciejasz,Pawel Maciejasz,Pawel Maciejasz,Jörg Eschweiler,Kurt Gerlach-Hahn,Arne Jansen-Troy,Steffen Leonhardt +6 more
TL;DR: A review of robotic devices for upper limb rehabilitation including those in developing phase is document in order to provide a comprehensive reference about existing solutions and facilitate the development of new and improved devices.
Journal ArticleDOI
Modeling and control of McKibben artificial muscle robot actuators
Bertrand Tondu,P. Lopez +1 more
TL;DR: In this article, a static model of the McKibben muscle was developed based on the three main parameters (i.e., initial braid angle, initial muscle length, and initial muscle radius).
Journal ArticleDOI
Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity
TL;DR: An attempt at summarizing the evolution and the state of the art in the field of robot hands is made and arguments are presented in favor of a -minimalistic" attitude in the design of hands for practical applications.
References
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Journal ArticleDOI
The heat of shortening and the dynamic constants of muscle
TL;DR: In this article, a more accurate and rapid technique for muscle heat measurement was proposed, and some astonishingly simple and accurate relations have been found, which determine the effect of load on speed of shortening, allow the form of the isometric contraction to be predicted, and are the basis of the so-called "visco-elasticity" of skeletal muscle.
Journal ArticleDOI
The variation in isometric tension with sarcomere length in vertebrate muscle fibres.
TL;DR: The variation of isometric tetanus tension with sarcomere length in single fibres from frog striated muscle has been re‐investigated with special precautions to ensure uniformity of sarcomeres length within the part of the fibre being studied.
Book ChapterDOI
Hill-Based Muscle Models: A Systems Engineering Perspective
TL;DR: Chapter 1 (Zahalak) provided a brief historical treatment of the early findings that led to the muscle model structure first proposed by A. V. Hill (1938) and is a phenomenologically based, lumped-parameter model that is based on interpretations of input-output data obtained from controlled experiments.