Characterizing the Peano fluidic muscle and the effects of its geometry properties on its behavior

Abstract

In this work, we explore the basic static and dynamic behavior of a hydraulically actuated Peano muscle and how its geometry affects key static and dynamic performance metrics. The Peano muscle, or pouch motor is a fluid powered artificial muscle. Similar to McKibben pneumatic artificial muscles (PAMs), it has the ability to generate the high forces of biological muscles with the low threshold pressure of pleated PAMs, but in a slim, easily distributed form. We found that Peano muscles have similar characteristics to other PAMs, but produce lower free-strains. A test rig capable of measuring high-speed flow rates with a Venturi tube revealed that their efficiency peaks at about 40% during highly dynamic movements. Peano muscles with more tubes and of a greater size do not move faster. Also, their muscle tubes should have an aspect ratio of at least 1:3 and channel width greater than 20% to maximize performance. These findings suggest that finite element modeling be used to optimize more complex Peano muscle geometries.

Development of the Ultralight Hybrid Pneumatic Artificial Muscle: Modelling and optimization

“…On the other hand, the so-called Peano actuator, consisting of a set of tubes arranged sideby-side, can implement not only linear contraction and torsional motion, by using very low pressure (10 kPa), but also high blocking force (25 N) at low pressures (30 kPa) [24]. However, the contraction ratio is limited (36%), because of the cylindrical geometry of the inflated membranes.…”

Fluid-driven origami-inspired artificial muscles

“…However, a high-pressure (>100 kPa) fluid is needed where the pressure is determined by the constituent material properties and desired force and displacement. Related actuators such as pouch motors ( 31 ) and Peano muscles ( 32 , 33 ) have a simple planar architecture compared with the standard McKibben actuator. These artificial muscles can generate both linear contraction and torsional motion at a relatively low air pressure (10 kPa).…”

HASEL Artificial Muscles for a New Generation of Lifelike Robots—Recent Progress and Future Opportunities

“…Many fluid-driven soft actuators have used thermoplastic films for their mechanical properties and numerous available processing methods. [66,[85][86][87][88] Similarly, thin-film dielectrics have been employed previously in electrostatic zipping actuators for their electrical properties. [41] The introduction of thermoplastic materials systems avoided many of the drawbacks of stretchable dielectrics and electrodes such as limited material selection and device reliability.…”