Study on peristaltic crawling robot using artificial muscle actuator

Saga, Norihiko; Nakamura, Taro; Ueda, Shuichi

doi:10.1109/aim.2003.1225176

Cited by 17 publications

(9 citation statements)

References 7 publications

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“…Alternatively, continuous long-stroke motion can be obtained by independently actuating muscle tubes pressed against a stiff, flexible film in a peristaltic sequence. A similar concept has been applied to multiple PAMs in a tube [35]. The wave motion in the Peano muscle tubes will move the film relative to the muscle in a direction and speed dependent on the tube pressurization sequence.…”

Section: Limitationsmentioning

confidence: 99%

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

Veale

Xie

Anderson

2016

Smart Mater. Struct.

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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.

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Section: Limitationsmentioning

confidence: 99%

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

Veale

Xie

Anderson

2016

Smart Mater. Struct.

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“…Therefore, it is necessary to use a complex controller with this artificial muscle in order to compensate for its nonlinear characteristics (Hildebrandt et al 2002). The authors have developed an artificial muscle tube in which high-intensity Kevlar fibber has been built into a silicone tube (Saga et al 2002(Saga et al , 2003. This actuator is longlasting, as it does not require a sleeve, and can express an aeolotropic property because of the way in which the fibber is knit into the tube.…”

Section: Introductionmentioning

confidence: 99%

Pneumatic Artificial Muscles Based on Biomechanical Characteristics of Human Muscles

Saga

Nagase

Saikawa

2006

Applied Bionics and Biomechanics

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This article reports the pneumatic artificial muscles based on biomechanical characteristics of human muscles. A wearable device and a rehabilitation robot that assist a human muscle should have characteristics similar to those of human muscle. In addition, since the wearable device and the rehabilitation robot should be light, an actuator with a high power to weight ratio is needed. At present, the McKibben type is widely used as an artificial muscle, but in fact its physical model is highly nonlinear. Therefore, an artificial muscle actuator has been developed in which high-strength carbon fibres have been built into the silicone tube. However, its contraction rate is smaller than the actual biological muscles. On the other hand, if an artificial muscle that contracts axially is installed in a robot as compactly as the robot hand, big installing space is required. Therefore, an artificial muscle with a high contraction rate and a tendon-driven system as a compact actuator were developed, respectively. In this study, we report on the basic structure and basic characteristics of two types of actuators.

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“…In comparison, systems that are biologically inspired by snakes or worms solve both problems [21] and might even fulfill more tasks [22]. They feature a modular and flexible structure as well as numerous degrees-of-freedom, enabling the system to adapt to the terrain.…”

Section: Rescue Robot For Usarmentioning

confidence: 99%

Study of efficiency of USAR operations with assistive technologies

et al. 2013

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This paper presents presents a study on e ciency of Urban Search and Rescue (USAR) missions that has been carried out within the framework of the German research project I-LOV. After three years of development, first field tests have been carried out in 2011 by professionals such as the Rapid Deployment Unit for Salvage Operations Abroad (SEEBA). We present results from evaluating search teams in simulated USAR scenarios equipped with newly developed technical search means and digital data input terminals developed in the I-LOV project. In particular, USAR missions assisted by the "bioradar", a ground-penetrating radar system for the detection of humanoid movements, a semi-active video probe of more than 10 m length for rubble pile exploration, a snake-like rescue robot, and the decision support system FRIEDAA were evaluated and compared with conventional USAR missions. Results of this evaluation indicate that the developed technologies represent an advantages for USAR missions, which are discussed in this paper.

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Study on peristaltic crawling robot using artificial muscle actuator

Cited by 17 publications

References 7 publications

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

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

Pneumatic Artificial Muscles Based on Biomechanical Characteristics of Human Muscles

Study of efficiency of USAR operations with assistive technologies

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