Modeling the Peano fluidic muscle and the effects of its material properties on its static and dynamic behavior

Abstract

The promise of wearable assistive robotics cannot be realized without the development of actuators that mimic the behavior and form of biological muscles. Planar fluidic muscles known as Peano muscles or pouch motors have the potential to provide the high force and compliance of McKibben pneumatic artificial muscles with the low threshold pressure of pleated pneumatic artificial muscles. Yet they do so in a soft and slim form that can be discreetly distributed over the human body. This work is an investigation into the empirical modeling of the Peano muscle, the effect of its material on its performance, and its capabilities and limitations. We discovered that the Peano muscle could provide responsive and discreet actuation of soft and rigid bodies requiring strains between 15% and 30%. Ideally, they are made of non-viscoelastic materials with high tensile and low bending stiffnesses. While Sarosi et al's empirical model accurately captures its static behavior with an root mean square error of 10.2 N, their dynamic model overestimates oscillation frequency and damping. We propose that the Peano muscle be modeled by a parallel ideal contractile unit and viscoelastic element, both in series with another viscoelastic element.

Accurate multivariable arbitrary piecewise model regression of McKibben and Peano muscle static and damping force behavior

“…It occurs over the full stroke of the muscle at a given pressure. Veale et al [45] [51] generalized kinetic friction viscous terms. They also have physically meaningful coefficients.…”

Structural and Mechanical Characteristics of a Capsule-Type Soft Pneumatic Actuator with Large Thrust Force and High-Contraction Ratio

“…Sarosi et al [27] developed a new dynamic model for an actuator as a pneumatic artificial muscle (PAM) with twodirectional motion and found that the dynamic properties of the system were close to the experimentally determined characteristics. Veale et al [28] proposed a novel planar fluidic artificial muscle and analyzed its static and dynamic behaviors by a parallel ideal contractile unit and viscoelastic element.…”

Modeling and Analysis of a High-Displacement Pneumatic Artificial Muscle With Integrated Sensing

“…Another type of soft actuator is a Peano-fluidic muscle (Niiyama et al, 2014(Niiyama et al, , 2015Park et al, 2014;Veale et al, 2016) which is made of materials such as fabric or PVC film. Its structure consists of a few layers that lie flat in their initial state and are bonded at intervals in lines perpendicularly to the contraction direction.…”