Third–Generation Pleated Pneumatic Artificial Muscles for Robotic Applications: Development and Comparison with McKibben Muscle

Villegas, Daniel Chemisana; Damme, Michaël Van; Vanderborght, Bram; Beyl, Pieter; Lefeber, Dirk

doi:10.1080/01691864.2012.689722

Cited by 96 publications

(77 citation statements)

References 13 publications

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“…Firstly, the need for assisting human movement in cases of injury or disability [3] and secondly, for specific applications necessitating a human-like softness, such as miniaturized soft tools for small surgeries [4] and soft arms for operating in cooperation with human people [5,6]. The first stage in creation and development of an artificial muscle system is to recognize the principal engineering properties of biological muscles such as force generation, response time, actuation strain and tension intensity that need to be mimicked [2,7].…”

Section: Introductionmentioning

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

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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: Introductionmentioning

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

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“…Comparing the braided DIMEAS prototypes with different types of muscle, such as the PPAM (Pleated Pneumatic Artificial Muscles) [16], for the same geometric dimensions and working pressures, the PPAM provide forces and contractions higher.…”

Section: Discussionmentioning

confidence: 99%

“…The pleated pneumatic artificial muscle developed by Daerden (1999) [13][14][15][16] is a membrane-rearranging actuator, meaning that the membrane's surface is rearranged rather than stretched as it is inflated, and no material strain is involved. This actuator's membrane has a number of lengthwise pleats which unfold when the muscle is inflated, allowing the membrane to expand and the actuator to contract.…”

Section: Introductionmentioning

confidence: 99%

Soft Pneumatic Actuators for Rehabilitation

et al. 2014

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Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here analyzed: different models of pneumatic muscles are considered and evolution lines are presented. Then, the use of Pneumatic Muscles (PAM) in rehabilitation apparatus is described and the general characteristics required in different applications are considered, analyzing the use of proper soft actuators with various technical properties. Therefore, research activity carried out in the Department of Mechanical and Aerospace Engineering in the field of soft and textile actuators is presented here. In particular, pneumatic textile muscles useful for active suits design are described. These components are made of a tubular structure, with an inner layer of latex coated with a deformable outer fabric sewn along the edge. In order to increase pneumatic muscles forces and contractions Braided Pneumatic Muscles are studied. In this paper, new prototypes are presented, based on a fabric construction and various kinds of geometry. Pressure-force-deformation tests results are carried out and analyzed. These actuators are useful for rehabilitation applications. In order to reproduce the whole upper limb movements, new kind of soft actuators are studied, based on the same principle of planar membranes deformation. As an example, the bellows muscle model and worm muscle model are developed and described. In both cases, wide deformations are expected. Another issue for soft actuators is the pressure therapy. Some textile sleeve prototypes developed for massage therapy on patients suffering of lymph edema are analyzed. Different types of fabric and assembly techniques have been tested. In general, these 85Pressure Soft Actuators are useful for upper/lower limbs treatments, according to medical requirements. In particular devices useful for arms massage treatments are considered. Finally some applications are considered.

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“…PET satin was purchased from Jiaxing Dongtai Textile Factory, China. All reagents for the preparation of simulated body fl uid (SBF), simulated stomach acid (SSA) and solution of sodium bicarbonate with pH of pancreatic juice (SPJ) -NaCl, NaHCO 3 , KCl, K 2 HPO 4 . …”

Section: Methodsmentioning

confidence: 99%

Novel biocompatible transversal pneumatic artificial muscles made of PDMS/PET satin composite

Szmechtyk

Sienkiewicz

Koter

et al. 2016

Polish Journal of Chemical Technology

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In this study novel transversal pneumatic artifi cial muscles (TPAM), made from composite -poly(dimethylsiloxane) (PDMS) matrix membrane and poly(ethylene terephthalate) (PET) satin reinforcement, are presented. Miniature TPAM consists of a fl exible internal braid (IB) reinforcing the membrane and the external braid (EB). EB, with fi bers arranged transversely to the IB, is placed laterally. Differently prepared TPAMs were tested for their effectiveness as actuators for robot drive and the PDMS/PET composite suitability was evaluated for applications in human gastrointestinal tract (chemical resistance, thermal characteristic). FT-IR spectra of the composite were compared for study PDMS impregnation process of PET satin and effect of immersion in selected solution. The composite shows outstanding biocompatibility and the muscles have competitive static load characteristics in comparison with other pneumatic artifi cial muscles (PAM). These results lead to believe, that in the near future painless examination of the gastrointestinal tract using a secure robot will be possible.

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Third–Generation Pleated Pneumatic Artificial Muscles for Robotic Applications: Development and Comparison with McKibben Muscle

Cited by 96 publications

References 13 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

Soft Pneumatic Actuators for Rehabilitation

Novel biocompatible transversal pneumatic artificial muscles made of PDMS/PET satin composite

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