Architectures of Soft Pneumatic Actuators Inspired by Muscle Fiber Arrangements

Satheeshbabu, Sreeshankar; Thompson, Nicholas A.; Xiao, Chenzhang; Krishnan, Girish

doi:10.1109/robosoft.2019.8722734

Cited by 2 publications

(2 citation statements)

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“…𝑙 for parallel fibers 𝑙 cos(𝛽) for bipennate lateral fibers 𝑛 2 − 1 2𝑟 sin(𝛽) + 𝑙 cos(𝛽) for bipennate central fibers (14) Muscle displacement ∆𝑙 is measured as ∆𝑙 = 𝑙 , − 𝑙 where 𝑙 , is the initial muscle length. The muscle strain increases at the same rate as fiber strain increases for the parallel muscle topology, due to the fibers running parallel to the axis of muscle motion.…”

Section: 𝜀 = ∆𝑙 𝑙 mentioning

confidence: 99%

“…Advantages of the pennate topology in biological muscles and the effects of fiber pennation angle on contraction speed, damping from impact disturbances, and aging have been emphasized in numerous studies [8,9,12,13]. Some studies explored arranging pneumatic fiber-reinforced actuators in pennate-inspired networks to illustrate how an inverted pennation arrangement can further amplify net displacement, as compared to a more conventional pennate configuration [14]. The coupling between the muscle force and displacement to the fiber force and displacement results in the ability to passively alter the effective gear ratio (i.e., the effective relationship between muscle fiber input and macro muscle outputs) [8,9,13].…”

Section: Introductionmentioning

confidence: 99%

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Implications of Spatially Constrained Bipennate Topology on Fluidic Artificial Muscle Bundle Actuation

Duan

Bryant

2022

Actuators

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In this paper, we investigate the design of pennate topology fluidic artificial muscle bundles under spatial constraints. Soft fluidic actuators are of great interest to roboticists and engineers, due to their potential for inherent compliance and safe human–robot interaction. McKibben fluidic artificial muscles are an especially attractive type of soft fluidic actuator, due to their high force-to-weight ratio, inherent flexibility, inexpensive construction, and muscle-like force-contraction behavior. The examination of natural muscles has shown that those with pennate fiber topology can achieve higher output force per geometric cross-sectional area. Yet, this is not universally true for fluidic artificial muscle bundles, because the contraction and rotation behavior of individual actuator units (fibers) are both key factors contributing to situations where bipennate muscle topologies are advantageous, as compared to parallel muscle topologies. This paper analytically explores the implications of pennation angle on pennate fluidic artificial muscle bundle performance with spatial bounds. A method for muscle bundle parameterization as a function of desired bundle spatial envelope dimensions has been developed. An analysis of actuation performance metrics for bipennate and parallel topologies shows that bipennate artificial muscle bundles can be designed to amplify the muscle contraction, output force, stiffness, or work output capacity, as compared to a parallel bundle with the same envelope dimensions. In addition to quantifying the performance trade space associated with different pennate topologies, analyzing bundles with different fiber boundary conditions reveals how bipennate fluidic artificial muscle bundles can be designed for extensile motion and negative stiffness behaviors. This study, therefore, enables tailoring the muscle bundle parameters for custom compliant actuation applications.

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Section: 𝜀 = ∆𝑙 𝑙 mentioning

confidence: 99%