Artificial Muscle Technology: Physical Principles and Naval Prospects

Madden, John D. W.; Vandesteeg, Nathan A.; Anquetil, Patrick A.; Madden, P.; Takshi, Arash; Pytel, Rachel Z.; Lafontaine, S.; Wieringa, P.A.; Hunter, Ian W.

doi:10.1109/joe.2004.833135

Cited by 922 publications

(965 citation statements)

References 107 publications

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“…Figure 6(a) shows that shaft rotation linearly progresses as the amount of mechanically applied torque increases. Three different sample lengths (10,35, and 70 mm) of identical twisted fibre were considered and showed a linear relationship between torsional stiffness and length ( Figure 6(b)). The resulting length independent torsional modulus was found to be 3.56×10 -6 N.m 2 at room temperature.…”

Section: Characteristic Properties Of Twisted Fibrementioning

confidence: 99%

“…Additionally, it was discovered that when the torsionally-actuating fibres and yarns are converted to coils, for example by extreme twist insertion, the fibre untwist translates to expansion or contraction along the coil axis. Tensile strokes as high as 49% were reported for twisted and coiled nylon-6,6 fibres delivering 2.48 kJ.kg -1 contractile work capacity [6] and greatly exceeding that generated by natural skeletal muscle (39 J.kg -1 ) [9,10].…”

Section: Introductionmentioning

confidence: 99%

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Characterisation of torsional actuation in highly twisted yarns and fibres

et al. 2015

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Highly twisted oriented polymer fibres and carbon nanotube yarns show large scale torsional actuation from volume expansion that can be induced, for example, thermally or by electrochemical charging. When formed into spring-like coils, the torsional actuation within the fibre or yarn generates powerful tensile actuation per muscle weight. For further development of these coil actuators and for the practical application of torsional actuators, it is important to standardise methods for characterising both the torsional stroke (rotation) and torque generated. By analogy with tensile actuators, we here introduce a method to measure both the free stroke and blocked torque in a one-end-tethered fibre. In addition, the torsional actuation can be measured when operating against an externally applied torque (isotonic) and actuation against a return spring fibre (variable torque). A theoretical treatment of torsional actuation was formulated using torsion mechanics and evaluated using a commercially available highly-oriented polyamide fibre. Good agreement between experimental measurements and calculated values was obtained. The analysis allows the prediction of torsional stroke under any external loading condition based on the fundamental characteristics of the actuator: free stroke and stiffness. AbstractHighly twisted oriented polymer fibres and carbon nanotube yarns show large scale torsional actuation from volume expansion that can be induced, for example, thermally or by electrochemical charging. When formed into spring-like coils, the torsional actuation within the fibre or yarn generates powerful tensile actuation per muscle weight. For further development of these coil actuators and for the practical application of torsional actuators, it is important to standardise methods for characterising both the torsional stroke (rotation) and torque generated. By analogy with tensile actuators, we here introduce a method to measure both the free stroke and blocked torque in a one-end-tethered fibre. In addition, the torsional actuation can be measured when operating against an externally applied torque (isotonic) and actuation against a return spring fibre (variable torque). A theoretical treatment of torsional actuation was formulated using torsion mechanics and evaluated using a commercially available highly-oriented polyamide fibre. Good agreement between experimental measurements and calculated values was obtained. The analysis allows the prediction of torsional stroke under any external loading condition based on the fundamental characteristics of the actuator: free stroke and stiffness.

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Section: Characteristic Properties Of Twisted Fibrementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Characterisation of torsional actuation in highly twisted yarns and fibres

et al. 2015

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“…The first stage in creation and development of an artificial muscle system is to recognize the principal engineering properties of biological muscles such as force generation, response time, actuation strain and tension intensity that need to be mimicked [2,7]. Mammalian skeletal muscles normally offer 20-40% actuation strain and 0.35 N/mm 2 tension intensity in less than one second with power to mass of 100 W/kg [8].…”

Section: Introductionmentioning

confidence: 99%

“…These systems are difficult to seal, are heavy and bulky, especially considering the pumps and compressors needed and they also suffer from static friction [9]. In the last two decades, a wide range of artificial muscles has been introduced and developed [7,10]. Pneumatic artificial muscles (PAMs) in particular have shown a great capability for fabricating robots and surgery tools because of their similarity to biological muscles as well as high actuation force per mass [11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system

Sangian

Naficy

Spinks

et al. 2015

Sensors and Actuators A: Physical

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Fluidic McKibben artificial muscles are one of the most popular biomimetic actuators, showing similar static and dynamic performance to skeletal muscles. In particular, their pneumatic version offers high-generated force, high speed and high strain in comparison to other actuators. This paper investigates the development of a small-size, fully enclosed, hydraulic McKibben muscle powered by a low voltage pump. Hydraulic McKibben muscles with an outside diameter of 6 mm and a length ranging from 35 mm to 80 mm were investigated. These muscles are able to generate forces up to 26 N, strains up to 23%, power to mass of 30 W/kg and tension intensity of 1.78 N/mm 2 at supply water pressure of 2.5 bar. The effects of injected pressure and inner tube stiffness on the actuation strain and force generation were studied and a simple model introduced to quantitatively estimate force and stroke generated for a given input pressure. This unique actuation system is lightweight and can be easily modified to be employed in small robotic systems where large movements in short time are required.  Effect of the bladder stiffness on Muscle performance is studied. A new and more accurate equation to predict the muscle performances is proposed. A sealed actuation system suitable for robotic machines with low voltage water pump is introduced. AbstractFluidic McKibben artificial muscles are one of the most popular biomimetic actuators, showing similar static and dynamic performance to skeletal muscles. In particular, their pneumatic version offers high-generated force, high speed and high strain in comparison to other actuators. This paper investigates the development of a small-size, fully enclosed, hydraulic McKibben muscle powered by a low voltage pump. Hydraulic McKibben muscles with an outside diameter of 6 mm and a length ranging from 35 mm to 80 mm were investigated. These muscles are able to generate forces up to 26 N, strains up to 23%, power to mass of 30 W/kg and tension intensity of 1.78 N/mm 2 at supply water pressure of 2.5 Bar. The effects of injected pressure and inner tube stiffness on the actuation strain and force generation were studied and a simple model introduced to quantitatively estimate force and stroke generated for a given input pressure. This unique actuation system is lightweight and can be easily modified to be employed in small robotic systems where large movements in short time are required.

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“…Furthermore, we found an increasing trend of displacement after a break time, which can be attributed to the recovering shape of PVC gel from a long-term deformation due to the complex structure of the stainless mesh anode. Therefore it was confirmed that the PVC gel artificial muscles' cycle life is more than 5 million times at the state of continuous electric field driven (2Hz), which reaches a level closes to a mammalian skeletal muscle [28]. It shows a great advantage over many other artificial muscles, such as 3000 actuation cycles of IPMC [29].…”

Section: Cycle Life Evaluation Of Pvc Gel Artificial Musclesmentioning

confidence: 80%

PVC gel based artificial muscles: Characterizations and actuation modular constructions

Hashimoto

2015

Sensors and Actuators A: Physical

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Polymer materials based artificial muscles have the properties of being soft, lightweight and flexible which are similar to the nature muscular actuators. In our previous study, we have developed a contraction type artificial muscle based on plasticized poly vinyl chloride (PVC) gel and meshed electrodes. And we have improved the characteristics to make it close to the level of natural muscle. It has many positive characteristics, such as stable actuation in the air, high output, notable response rate and low power consumption. So a wide application is expected. However, for practical applications, it is necessary to consider some specific criteria, such as performance criteria and structural criteria. In this study, we introduced the most updated properties of PVC gel artificial muscles and proposed three types of mechanical actuation modular constructions for making the PVC gel artificial muscle as a robust actuation device for robotics and mechatronics. And we tested a prototype to examine the effectiveness of the proposed modules. Finally, an analytical model for the static characteristics of PVC gel artificial muscles at different applied voltages was derived and showed good agreement with experimental results measured by a prototype of modules.

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Artificial Muscle Technology: Physical Principles and Naval Prospects

Cited by 922 publications

References 107 publications

Characterisation of torsional actuation in highly twisted yarns and fibres

Characterisation of torsional actuation in highly twisted yarns and fibres

The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system

PVC gel based artificial muscles: Characterizations and actuation modular constructions

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