Development of a Slim Haptic Glove Using McKibben Artificial Muscles

Moon, Kyung-Won; Ryu, Dongseok; Chun, Changmook; Lee, Yongkwon; Kang, Sungchul; Park, Mignon

doi:10.1109/sice.2006.315608

Cited by 22 publications

(10 citation statements)

References 2 publications

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“…The reported maximum (blocked) forces covered a wide range with the larger diameter muscles generated the higher forces. Three previous studies used similarly small diameter braids as used in the present work of less than 6 mm [16,20,24]. The maximum contraction (free) strains from these small diameter braids were of a similar magnitude (~20%) and the maximum blocked forces were either similar or lower than those reported in the present study.…”

Section: Effect Of the Unloaded Muscle Length On Isometric Force Genesupporting

confidence: 65%

“…The braid constrains the expanded inner tube to maintain a cylindrical shape to amplify stroke or force along the braid axis. This particular artificial muscle however presents some disadvantages such as the requirement of a separated mechanical air compressor, a noisy system due to exhaust during depressurization, a heavy system to carry for human or robots and high electricity consumption [16]. To overcome mentioned disadvantages several attempts have recently been made to replace the air with chemo -sensitive materials to mimic how biological muscles transform chemical energy into mechanical energy.…”

Section: Joseph L Mckibben Was the First To Introduce Mckibben Artifmentioning

confidence: 99%

“…Moreover, it has been shown that it was possible to design relatively 'large' pneumatic McKibben muscles to actuate human limb-size robots [22], or even very powerful ones thanks to the use of a particular strong external braided sleeve [23]. In an alternative way, it is also possible to develop microscale HAMs like the ones proposed by Moon, Ryu, Chun et al [16], or by Sodano and Rotinat-Libersa [24] for millimeter scale robot development. The purpose of the work reported in this paper is to investigate small-size hydraulic McKibben muscles working in a limited pressure range as developed by Tiwari, Meller et al [20], but with the additional constraint of functioning using small, low voltage pumps suitable for portable applications.…”

Section: Joseph L Mckibben Was the First To Introduce Mckibben Artifmentioning

confidence: 99%

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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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Section: Effect Of the Unloaded Muscle Length On Isometric Force Genesupporting

confidence: 65%

Section: Joseph L Mckibben Was the First To Introduce Mckibben Artifmentioning

confidence: 99%

Section: Joseph L Mckibben Was the First To Introduce Mckibben Artifmentioning

confidence: 99%

See 1 more Smart Citation

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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“…Between the pneumatic actuators, the soft actuators present different advantages, due to very high force/weight ratio and low friction [6]. For all these reasons, among the pneumatic actuators, the McKibben pneumatic artificial muscle has been employed in several haptic devices, manipulators, and gloves [7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Use of McKibben Muscle in a Haptic Interface

et al. 2019

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One of the most relevant issues in the development of a haptic interface is the choice of the actuators that are devoted to generating the reflection forces. This work has been particularly focused on the employment of the McKibben muscle to this aim. A prototype of one finger has been realized that is intended to be part of a haptic glove, and is based on an articulated mechanism driven by a McKibben muscle. A dynamic model of the finger has been created and validated; then, it has been used to define the control algorithm of the device. Experimental tests highlighted the static and dynamic effectiveness of the device and proved that a McKibben muscle can be appropriately used in such an application.

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“…The muscle usually operates with pressurized gas/water, and the system requires a compressor/pump as well as a gas/water storage container (Meller et al, 2014;Tiwari et al, 2012;Mori et al, 2010;Moon et al, 2006). The pressurized fluids are used to increase the volume of the inner bladder and subsequently deform the braided sleeve that make up the McKibben muscle.…”

Section: Introductionmentioning

confidence: 99%

Thermally activated paraffin-filled McKibben muscles

Sangian

Naficy

Spinks

2016

Journal of Intelligent Material Systems and Structures

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McKibben artificial muscles are one of the most pragmatic contractile actuators, offering performances similar to skeletal muscles. The McKibben muscles operate by pumping pressurized fluid into a bladder constrained by a stiff braid so that tensile force generated is amplified in comparison to a conventional hydraulic ram. The need for heavy and bulky compressors/ pumps makes pneumatic or hydraulic McKibben muscles unsuitable for microactuators, where a highly compact design is required. In an alternative approach, this article describes a new type of McKibben muscle using an expandable guest fill material, such as temperature-sensitive paraffin, to achieve a more compact and lightweight actuation system. Two different types of paraffin-filled McKibben muscles are introduced and compared. In the first system, the paraffinfilled McKibben muscle is simply immersed in a hot water bath and generates isometric forces up to 850 mN and a free contraction strain of 8.3% at 95C. In the second system, paraffin is heated directly by embedded heating elements and exhibits the maximum isometric force of 2 N and 9% contraction strain. A quantitative model is also developed to predict the actuation performance of these temperature sensitive McKibben muscles as a function of temperature.

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Development of a Slim Haptic Glove Using McKibben Artificial Muscles

Cited by 22 publications

References 2 publications

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

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

Use of McKibben Muscle in a Haptic Interface

Thermally activated paraffin-filled McKibben muscles

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