Pneumatic and hydraulic microactuators: a review

Volder, Michaël De; Reynaerts, Dominiek

doi:10.1088/0960-1317/20/4/043001

Cited by 250 publications

(166 citation statements)

References 146 publications

Supporting

Mentioning

164

Contrasting

Unclassified

Order By: Relevance

“…But still most naturally compliant robots are actuated fluidically [46]. Therefore flexible materials are pressurized pneumatically [52,[62][63][64] or hydraulically [65] to generate a shape deformation in order to operate the robotic joints.…”

Section: Bio-inspired Robots With Soft Capabilitiesmentioning

confidence: 99%

“…Thus, this review focuses on the sub-field of fluidically actuated robotic devices, see Today, fluidic, biomimetic, and compliant robotic actuators can be found in various areas of application: From micro-actuation systems for surgical tools and new industrial purposes [65] to medical and rehabilitation devices [2,3,69], or handling devices [66] and mobile robots [47,70].…”

Section: Flexible Fluidic Actuatorsmentioning

confidence: 99%

See 1 more Smart Citation

Biomimetic Spider Leg Joints: A Review from Biomechanical Research to Compliant Robotic Actuators

et al. 2016

View full text Add to dashboard Cite

Due to their inherent compliance, soft actuated joints are becoming increasingly important for robotic applications, especially when human-robot-interactions are expected. Several of these flexible actuators are inspired by biological models. One perfect showpiece for biomimetic robots is the spider leg, because it combines lightweight design and graceful movements with powerful and dynamic actuation. Building on this motivation, the review article focuses on compliant robotic joints inspired by the function principle of the spider leg. The mechanism is introduced by an overview of existing biological and biomechanical research. Thereupon a classification of robots that are bio-inspired by spider joints is presented. Based on this, the biomimetic robot applications referring to the spider principle are identified and discussed.

show abstract

Section: Bio-inspired Robots With Soft Capabilitiesmentioning

confidence: 99%

Section: Flexible Fluidic Actuatorsmentioning

confidence: 99%

Biomimetic Spider Leg Joints: A Review from Biomechanical Research to Compliant Robotic Actuators

et al. 2016

View full text Add to dashboard Cite

show abstract

“…Hydraulic McKibben muscles have been introduced recently as a new generation of these muscles, which operate with pressurized water or oil [18,19]. As noted by Tiwari et al [20] and Meller et al [21], the use of bulky compressors can be avoided in hydraulic artificial muscles (HAMs), thus making compact design possible.…”

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

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

View full text Add to dashboard Cite

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.

show abstract

“…This problem is well recognized in the microelectromechanical community [3,4]. Existing microengines (actuators) use mostly two types of forces [3][4][5][6]: electrostatic forces and forces generated by thermal expansion. The electrostatic actuators are fast, but weak.…”

Section: Introductionmentioning

confidence: 99%

Overcoming the Fundamental Limit: Combustion of a Hydrogen-Oxygen Mixture in Micro- and Nano-Bubbles

et al. 2016

View full text Add to dashboard Cite

Combustion reactions quench in small volumes due to fast heat escape via the volume boundary. Nevertheless, the reaction between hydrogen and oxygen was observed in nano-and micro-bubbles. The bubbles containing a mixture of gases were produced in microsystems using electrochemical decomposition of water with a fast switching of voltage polarity. In this paper, we review our experimental results on the reaction in micro-and nano-bubbles and provide their physical interpretation. Experiments were performed using microsystems of different designs. The process was observed with a stroboscope and with a vibrometer. The latter was used to measure the gas concentration in the electrolyte and to monitor pressure in a reaction chamber covered with a flexible membrane. Information on the temperature was extracted from the Faraday current in the electrolyte. Since the direct observation of the combustion is complicated by the small size and short time scale of the events, special attention is paid to the signatures of the reaction. The mechanism of the reaction is not yet clear, but it is obvious that the process is surface dominated and happens without significant temperature increase.

show abstract

Pneumatic and hydraulic microactuators: a review

Cited by 250 publications

References 146 publications

Biomimetic Spider Leg Joints: A Review from Biomechanical Research to Compliant Robotic Actuators

Biomimetic Spider Leg Joints: A Review from Biomechanical Research to Compliant Robotic Actuators

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

Overcoming the Fundamental Limit: Combustion of a Hydrogen-Oxygen Mixture in Micro- and Nano-Bubbles

Contact Info

Product

Resources

About