Development of a pneumatic artificial muscle based on biomechanical characteristics

Nakamura, Tatsuya; Saga, Norihiko; Yaegashi, K.

doi:10.1109/icit.2003.1290746

Cited by 79 publications

(34 citation statements)

References 8 publications

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“…It however captures three main characters which found the static analogy between McKibben muscle and natural skeletal muscle : 1. Static tension is proportional to P which can so play the part of the neural activation u (let us recall that static roll tension is proportional to the electric tension squared due to the equation (1) (Saga et al, 2005) , see also (Nakamura et al, 2003)) -this type of muscle is as 'old' as McKibben muscle (Matsushita, 1968) -(c) Typical membrane case : pleated muscle (from (Daerden & Lefeber, 2001)) (see text)…”

Section: Pneumatic Musclesmentioning

confidence: 99%

Artificial Muscles for Humanoid Robots

Tondu¹

2007

Humanoid Robots, Human-Like Machines

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The question of actuator choice for humanoid robotsIt is important to recall that humanoid robot technology derives from the technology of industrial robots. It is obvious that the developments of bipedal robots such as the integration of robot-upper limbs to complex anthropomorphic structures have benefited from progress in mechanical structures, sensors and actuators used in industrial robot-arms. A direct link is sometimes made between the technology of redundant robot-arms and humanoid robots as underlined in some technical documents of the Japanese AIST where it clearly appears that the HRP2 humanoid robot upper limb is directly derived from the Mitsubshi PA10 7R industrial robot-arm. D u e t o i t s h i g h n u m b e r o f d e g r e e s o f f r e e d o m i n c o m p a r i s o n t o i n d u s t r i a l r o b o t s , ahumanoid robot requires great compactness of all actuator and sensor components. This is why we believe that the harmonic drive technology associated with direct current electric motor technology has played a non-negligible part in humanoid robot development. The DC actuator offers the great advantage of being a straightforward technology, associated with simple and well-known physical models, its integration into mobile robots benefits from new developments in embedded batteries. However, its low maximum-torque-onmass and maximum-torque-on-volume ratios are a serious drawback for its use in direct drive apparatuses. On the other hand, the ability of electric motors to generate very high velocities in comparison with moderate jointed velocities needed by industrial robot-arms and more by jointed anthropomorphic limbs, gives the possibility of using high ratio speed reducers to amplify motor-torque. Moreover, the choice of a high ratio speed reducer offers the advantage of masking inertial perturbations such as external torque perturbations. The technical achievement of such ratios induces specific mechanical difficulties due to the bulkiness of successive gears; harmonic drive technology -represented for example by Harmonic Drive AG -resolves this problem in a very elegant manner: the harmonic drive and the actuator fit together without excessive increase in mass and volume in comparison with the actuator alone. It can be considered that most of today's humanoid robots are actuated by DC motors with harmonic drives (this actuation mode is mentioned, for example, by Honda from its first paper about the P2 robot onwards (Hirai et al., 1998) and then in the official ASIMO web site, as well as in papers concerning other Japanese and European humanoid robots). But if this technology simplifies actuator mechanical integration and leads to the use of simple joint linear control, despite the highly non-linear character of robot dynamics, it is well-known that the use of a speed reducer multiplies the

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Section: Pneumatic Musclesmentioning

confidence: 99%

Artificial Muscles for Humanoid Robots

Tondu¹

2007

Humanoid Robots, Human-Like Machines

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“…So far, McKibben actuators have been configured for a variety of functions using different kinematic arrangements for example as antagonistic actuator pairs (Reynolds et al, 2003). Various models of the pneumatic actuator have been proposed over the years (Chou and Hannaford, 1996;Klute, 2000;Klute et al, 1999;Repperger et al, 1997;Reynolds et al, 2003;Schulte, 1961;Nakamura et al, 2003). These actuators have been chiefly investigated for applications in robotics, prosthetics, and orthotics (Kopecny, 2003;Mangan et al, 2002;Mangan et al, 2005;Takuma et al, 2004;Vaidyanathan et al, 2000).…”

Section: Introductionmentioning

confidence: 97%

A mathematical model for cylindrical, fiber reinforced electro-pneumatic actuators

Goulbourne

2009

International Journal of Solids and Structures

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a b s t r a c tIn recent years, dielectric elastomers have received increasing attention due to their unparalleled large strain actuation response (>100%). The force output, however, has remained a major limiting factor for many applications. To address this limitation, a model for a fiber reinforced dielectric elastomer actuator based on the deformation mechanism of McKibben actuators is presented. In this novel configuration, the outer cylindrical surface of a dielectric elastomer is enclosed by a network of helical fibers that are thin, flexible and inextensible. This configuration yields an axially contractile actuator, in contrast to unreinforced actuators which extend. The role of the fiber network is twofold: (i) to serve as reinforcement to improve the load-bearing capability of dielectric elastomers, and (ii) to render the actuator inextensible in the axial direction such that the only free deformation path is simultaneous radial expansion and axial contraction. In this paper, a mathematical model of the electromechanical response of fiber reinforced dielectric elastomers is derived. The model is developed within a continuum mechanics framework for large deformations. The cylindrical electro-pneumatic actuator is modeled by adapting Green and Adkins' theory of reinforced cylinders to account for the applied electric field. Using this approach, numerical solutions are obtained assuming a Mooney-Rivlin material model. The results indicate that the relationship between the contractile force and axial shortening is bilinear within the voltage range considered. The characteristic response as a function of various system parameters such as the fiber angle, inflation pressure, and the applied voltage are reported. In this paper, the elastic portion of the modeling approach is validated using experimental data for McKibben actuators.

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“…The tube is made of natural latex rubber with a carbon fiber sheet, which is inserted along the long-axis direction and fixed at both ends by a terminal. Because this structure suppresses expansion in the axial direction, the artificial muscle expands radially under air pressure and exerts a contractile force axially [8]. Straightfiber-type artificial muscles restrict expansion only in the axial direction, whereas Mckibben artificial muscles restrict expansion in both the axial and radial directions because of their reticular fiber structure.…”

Section: Introductionmentioning

confidence: 98%

Development of delta robot driven by pneumatic artificial muscles

Hirano

Tanaka

Watanabe

et al. 2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Recently, research of a haptic device that renders human arbitrary-force sense has been accelerating for application in rehabilitation and virtual reality/augmented reality devices. Generally, these devices are actuated by electric motors; however, the actuators have low stiffness output and low backdrivability.In an effort to counteract these drawbacks, we developed a delta robot actuated by straight-fiber-type pneumatic artificial muscles. This robot renders human arbitrary-force sense without force sensor feedback. Furthermore, this robot has backdrivability derived from the softness of the pneumatic artificial muscles and no backlash because the structure does not use gears. Thus, by adopting a delta mechanism as a haptic device, high stiffness output and low inertia force are realized. In this study, we introduce the development of the delta robot as the prototype of a haptic device and conduct position-control and stiffness-control experiments to examine the device's fundamental properties. From the experimental results, we confirm that end position is controllable by both sides of static and dynamic state, and the stiffness of the end plate is controllable without feedback of the force sensor.

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Development of a pneumatic artificial muscle based on biomechanical characteristics

Cited by 79 publications

References 8 publications

Artificial Muscles for Humanoid Robots

Artificial Muscles for Humanoid Robots

A mathematical model for cylindrical, fiber reinforced electro-pneumatic actuators

Development of delta robot driven by pneumatic artificial muscles

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