1998
DOI: 10.1115/1.482478
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Accounting for Elastic Energy Storage in McKibben Artificial Muscle Actuators

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, we present a model that includes a nonlinear, Mooney–Rivlin mathematical description of the actuator’s internal bladder. Experimental results show that the model provides improvement in the ability to predict the actuator’s output force. How… Show more

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Cited by 188 publications
(134 citation statements)
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References 4 publications
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“…Figure. little effect of braid length on the force generated when pressurized [25]. However, our muscles have comparatively small aspect ratios and below the recommended ratio of 14 [26] so that end effects may limit the force generated.…”
Section: Effect Of the Unloaded Muscle Length On Isometric Force Genementioning
confidence: 99%
“…Figure. little effect of braid length on the force generated when pressurized [25]. However, our muscles have comparatively small aspect ratios and below the recommended ratio of 14 [26] so that end effects may limit the force generated.…”
Section: Effect Of the Unloaded Muscle Length On Isometric Force Genementioning
confidence: 99%
“…The theoretical model intuitively describes the relationship between the PAM's characteristics and the parameters directly related to the PAM's geometric structure and material properties, and often has a complex structure with many parameters [4]- [7]. For example, Chou and Hannaford derived the model from the law of energy conservation, and described the relationship among the pressure, the length, and the contractile force of the PAM [5], [6].…”
Section: Introductionmentioning
confidence: 99%
“…Many modeling approaches exist, including energy balance [10], force balance [11] and finite elasticity theory [12], but precise modeling of the nonlinear behavior has proven difficult. Moreover, scalability to different sizes, length-to-diameter ratios and bladder thickness-to-diameter ratios have seen limited success.…”
Section: Introductionmentioning
confidence: 99%