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The area of artificial muscle is a highly interdisciplinary field of research that has evolved rapidly in the last 30 years. Recent advances in nanomaterial fabrication and characterization, specifically carbon nanotubes and nanowires, have had major contributions in the development of artificial muscles. However, what can artificial muscles really do for humans? This question is considered here by first examining nature's solutions to this design problem and then discussing the structure, actuation mechanism, applications, and limitations of recently developed artificial muscles, including highly oriented semicrystalline polymer fibers; nanocomposite actuators; twisted nanofiber yarns; thermally activated shape-memory alloys; ionic-polymer/metal composites; dielectric-elastomer actuators; conducting polymers; stimuli-responsive gels; piezoelectric, electrostrictive, magnetostrictive, and photostrictive actuators; photoexcited actuators; electrostatic actuators; and pneumatic actuators.

The objective of this study was to determine the extent to which subjects modulate their elbow joint mechanical properties during ongoing arm movement. Small pseudo-random force disturbances were applied to the wrist with an airjet actuator while subjects executed large (1 rad) elbow joint movements. Using a lumped parameter model of the muscle, tendon and proprioceptive feedback dynamics, a time-varying system identification technique was developed to analyze the phasic changes in the elbow joint's mechanical response. The mechanical properties were found to be time-varying, and well approximated by a quasi-linear second-order model. The stiffness of the arm was found to drop during movement. The arm was always underdamped, with the damping ratio changing during movement. Inertia estimates were constant and consistent with previous measurements. Overall, the moving arm was found to be very compliant, with a peak stiffness value less than the lowest value measured during posture, and a natural frequency of less than 3 Hz. Changing the speed of movement, or the load from gravity, changed the stiffness measured, but not in strict proportion to the change in net muscle torque.

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Extensive parametric data were obtained from pigeons responding on variable-interval schedules arrange(d o01 three, two, and one response keys. Number of responses on the keys, the time spent responding on the keys, and the number of reinforcements obtained on the keys were measured. Response rates on each key were an increasing function of the reinforcement rate on that key, and an inverse function of the reinforcement rate on the other keys. In terms of preference, both response and timiie-allocation ratios undermatched ratios of obtained reinforcements, and the degree of undermatching was consistent both within, and between, two-anid thlec-scheduile data. When absoltlte response-rate data were analyze(1 accor-ding to Herrnstein's (1970) quantitative account, obtained values of assumed colstants were not consistent either within or between conditions. However, a powerfunction modification of Herrnstein's account fitted the data well and provided similar cxponent values to those obtained for the underll-atching of preference ratios.