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Journal articles on the topic 'McKibben pneumatic muscle'

Author: Grafiati

Published: 4 June 2021

Last updated: 15 February 2022

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1

Antonelli, Michele G., Pierluigi Beomonte Zobel, Francesco Durante, and Terenziano Raparelli. "Numerical modelling and experimental validation of a McKibben pneumatic muscle actuator." Journal of Intelligent Material Systems and Structures 28, no. 19 (March 21, 2017): 2737–48. http://dx.doi.org/10.1177/1045389x17698245.

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The McKibben muscle belongs to the type of muscles known as braided muscles. It is made of an inner hyper-elastic tube, surrounded by a braided shell made of inextensible threads; both ends provide mechanical and pneumatic seal. A finite element model of a McKibben pneumatic muscle was built and experimentally validated. The model is based on characteristic parameters of McKibben muscles. It takes into account the non-linearity of the constitutive material of the inner tube. It does not simulate backslashes between the tube and the shell at rest condition, but it models threads and rubber that are always connected. However, it does not consider friction among threads. In order to build and to validate the proposed numerical model, an experimental prototype of the muscle was designed and built. Both isotonic and isometric tests were carried out. Same tests were simulated in the finite element environment. The model validation was performed by comparison between experimental and numerical results.

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2

Kuriyama, Shinji, Ming Ding, Yuichi Kurita, Jun Ueda, and Tsukasa Ogasawara. "Flexible Sensor for McKibben Pneumatic Artificial Muscle Actuator." International Journal of Automation Technology 3, no. 6 (November 5, 2009): 731–40. http://dx.doi.org/10.20965/ijat.2009.p0731.

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The demand for flexible, lightweight McKibben pneumatic artificial muscles (McKibben actuators) has been increasing for power assistance equipment used for assisting and rehabilitating the elderly. To accurately control this equipment, the length of the actuator should be measured. However, the equipment becomes heavier and less flexible when a rigid sensor, such as a potentiometer or an encoder, is used. The sensor should be flexible in order to take advantage of the favorable properties of the McKibben actuator. The aim of this study is to measure the length of the actuator without loss of its advantages. We propose a method of estimating the length from the circumferential displacement, which can be measured by a sensor made of electroconductive, flexible rubber. Higher accuracy is obtained by measuring the circumferential displacement than by measuring the axial displacement using this sensor. The sensor’s flexibility enables us to accurately control the actuator without any loss of flexibility or increase in weight. Furthermore, the sensor does not require the attachment of any rigid fixtures. The accuracy of the estimate is successfully evaluated and the usefulness of the proposed method is verified through its application to a multi-link arm driven by the McKibben actuator.

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3

Díaz-Zagal, S., C. Gutiérrez-Estrada, E. Rendón-Lara, I. Abundez-Barrera, and J. H. Pacheco-Sánchez. "Pneumatic Artificial Mini-Muscles Conception: Medical Robotics Applications." Applied Mechanics and Materials 15 (August 2009): 49–54. http://dx.doi.org/10.4028/www.scientific.net/amm.15.49.

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Actually, the pneumatic artificial muscles of McKibben type [1] show a great functional similarity with the skeletal muscle. A detailed analysis of the system has been performed to better characterize this similarity with the analogous dynamic behavior of the organic system. Such analysis has shown that the McKibben-type artificial muscle can be adapted to the Hill fundamental model [2]. Research regarding pneumatic artificial muscle with application to robotics has recently focused on mini-actuators for miniaturized robotics systems. This is specially true in the area of medical robotics, but an extension of miniactuator technology to other applications may be feasible, such as the development of artificial fine-motion limbs (hands and/or fingers). The present work details the artificial muscle miniaturization process developed in the LESIA laboratory, their behavior, their position and force control characteristics, as well as the possible applications of this technology to medical robotics.

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4

Mirvakili, Seyed M., Douglas Sim, Ian W. Hunter, and Robert Langer. "Actuation of untethered pneumatic artificial muscles and soft robots using magnetically induced liquid-to-gas phase transitions." Science Robotics 5, no. 41 (April 15, 2020): eaaz4239. http://dx.doi.org/10.1126/scirobotics.aaz4239.

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Pneumatic artificial muscles have been widely used in industry because of their simple and relatively high-performance design. The emerging field of soft robotics has also been using pneumatic actuation mechanisms since its formation. However, these actuators/soft robots often require bulky peripheral components to operate. Here, we report a simple mechanism and design for actuating pneumatic artificial muscles and soft robotic grippers without the use of compressors, valves, or pressurized gas tanks. The actuation mechanism involves a magnetically induced liquid-to-gas phase transition of a liquid that assists the formation of pressure inside the artificial muscle. The volumetric expansion in the liquid-to-gas phase transition develops sufficient pressure inside the muscle for mechanical operations. We integrated this actuation mechanism into a McKibben-type artificial muscle and soft robotic arms. The untethered McKibben artificial muscle generated actuation strains of up to 20% (in 10 seconds) with associated work density of 40 kilojoules/meter3, which favorably compares with the peak strain and peak energy density of skeletal muscle. The untethered soft robotic arms demonstrated lifting objects with an input energy supply from only two Li-ion batteries.

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5

Sárosi, József, Zoltán Fabulya, János Gyeviki, Gábor Keszthelyi-Szabó, and Péter Szendró. "Investigation of accuracy of the newest function approximation for the force generated by pneumatic artifial muscle." Analecta Technica Szegedinensia 7, no. 1-2 (January 24, 2013): 39–49. http://dx.doi.org/10.14232/analecta.2013.1-2.39-49.

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The newest and most promising type of pneumatic actuators is the pneumatic artificial muscle (PAM). Different designs have been developed, but the McKibben muscle is the most popular and is made commercially available by different companies (e. g. Fluidic Muscle manufactured by Festo Company). The most often mentioned characteristic of PAMs is the force as a function of pressure and contraction. In this paper our newest function approximation for the force generated by Fluidic Muscles is shown that can be generally used for different muscles made by Festo Company.

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6

Zhao, Huai Lin, Jian Ling Bian, Jian Jiang, and Wei Ming Ji. "A Robot Arm Actuated by Mckibben Muscles." Applied Mechanics and Materials 66-68 (July 2011): 654–58. http://dx.doi.org/10.4028/www.scientific.net/amm.66-68.654.

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A humanoid robot arm with both shoulder joint and elbow joint is built. It is actuated by pieces of Mckibben muscles. Its skeleton-muscle formation is similar to the anatomical structure of the human arm. A pneumatic experiment system is established for supporting and testing the robot arm. The relationship between the robot arm actions and the Mckibben muscles is studied. Some main actions of the robot arm including the elbow bending, the whole arm arising and the rotating around the arm axis are realized.

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7

Gyeviki, János, József Sárosi, Antal Véha, and Péter Toman. "Experimental investigation of characteristics of pneumatic artificial muscles." Jelenkori Társadalmi és Gazdasági Folyamatok 5, no. 1-2 (January 1, 2010): 244–48. http://dx.doi.org/10.14232/jtgf.2010.1-2.244-248.

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The characteristics of pneumatic artificial muscles (PAMs) make them very interesting for the development of robotic and prosthesis applications. The McKibben muscle is the most popular and is made commercially available by different companies. The aim of this research is to acquire as much information about the pneumatic artificial muscles as we can with our test-bed that was developed by us and to be able to adopt these muscles as a part of prosthesis. This paper presents the set-up constructed, and then describes some mechanical testing results for the pneumatic artificial muscles.

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8

Sárosi, József, János Gyeviki, and Sándor Csikós. "Mesterséges pneumatikus izomelemek modellezése és paramétereinek szimulációja MATLAB környezetben." Jelenkori Társadalmi és Gazdasági Folyamatok 5, no. 1-2 (January 1, 2010): 273–77. http://dx.doi.org/10.14232/jtgf.2010.1-2.273-277.

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Pneumatic artificial muscles (PAMs) are becoming more commonly used as actuators in modern robotics. The most made and common type of these artificial muscles in use is the McKibben artificial muscle that was developed in 1950's. The braided muscle is composed of gas-tight elastic bladder, surrounded by braided sleeves. Typical materials used for the membrane constructions are latex and silicone rubber, while nylon is normally used in the fibres. This paper presents the geometric model of PAM and different MATLAB models for pneumatic artificial muscles. The aim of our models is to relate the pressure and length of the pneumatic artificial muscles to the force it exerts along its entire exists.

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9

Zuo, He, Guo Liang Tao, and Xiao Cong Zhu. "Modeling and Enhancement of Mckibben Pneumatic Muscle Actuators." Advanced Materials Research 591-593 (November 2012): 793–96. http://dx.doi.org/10.4028/www.scientific.net/amr.591-593.793.

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Mckibben pneumatic muscle actuators (PMA) have many advantages such as high power-mass ratio and low price, but their strong nonlinear characteristics makes modeling and controlling very hard, which limits their applications. This paper presents the modeling of PMA and methods to enhance their dynamic performances. Considering the incorporated models of fast-switching valves and PMAs, the entire system model is modified in some aspects and the dominant model parameters are determined through experimental results to estimate the dynamic characteristics precisely. Simulation and proper experiments reveal that the dynamic performance of PMA can be improved through filling the PMA with materials of high thermal conductivity. The slow time-varying disturbance caused by the temperature variation of inner gas can be reduced much, which lowers the difficulty of controlling.

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10

Sárosi, József, and Zoltán Fabulya. "A Fluidic Muscle által kifejtett erő közelítésének vizsgálata MS Excel környezetben." Jelenkori Társadalmi és Gazdasági Folyamatok 8, no. 1-2 (January 1, 2013): 70–76. http://dx.doi.org/10.14232/jtgf.2013.1-2.70-76.

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The newest and most promising type of pneumatic actuators is the pneumatic artificial muscle (PAM). Different designs have been developed, but the McKibben muscle is the most popular and is made commercially available by different companies (e. g. Fluidic Muscle manufactured by Festo Company and Shadow Air Muscle manufactured by Shadow Robot Company). Pneumatic artificial muscles have a wide range of use in industrial and medical fields. There are a lot of advantages of these muscles like the high strength, good power-weight ratio, low price, little maintenance needed, great compliance, compactness, inherent safety and usage in rough environments. The main disadvantage is that their dynamic behaviour is highly nonlinear. The most often mentioned characteristic of PAMs is the force as a function of pressure and contraction. In this paper the newest function approximations for the force generated by Fluidic Muscles are investigated in MS Excel.

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11

Belforte, Guido, Terenziano Raparelli, and Silvia Alessandra Sirolli. "A Novel Geometric Formula for Predicting Contractile Force in McKibben Pneumatic Muscles." International Journal of Automation Technology 11, no. 3 (April 28, 2017): 368–77. http://dx.doi.org/10.20965/ijat.2017.p0368.

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Several analytical models exist in the literature for predicting the behavior of braided pneumatic muscles (McKibben muscles). Such models take into consideration the various variables and parameters that are related to the muscle geometry, material properties, and the loads applied to the system, and propose various relationships between these variables. Owing to the complexity of the muscle structure, in several cases, instead of a physical model, empirical or experimental models are used, which generally have limited validity for specific muscle types, i.e., they are only valid for a restricted range of operating parameters. This study proposes a new analytical formula based on the geometry of a pneumatic muscle studied in the rest and work phases and a simple experimental method to obtain corrective factors useful to design muscles. A mathematical formula can thus be obtained that allows one to deduce the measurements of interest in the system as a function of the specific parameters and permits one to interpret in qualitative terms the behavior of the muscle at each moment for various values of pressure, contraction, and applied load and to identify any critical situations. This model can therefore be a very useful design tool because it allows one to adapt the muscle geometry based on the required forces and contractions for different applications that are compatible with the muscle structure on which the model is based. This paper also presents a method for evaluating the efficiency of the muscles, useful to better use them in different applications.

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12

Mohamed, Mohd Firdaus, Asyikin Sasha Mohd Hanif, and Ahmad Athif Faudzi. "Segmentation of a Soft Body and its Bending Performance using Thin McKibben Muscle." International Journal of Automotive and Mechanical Engineering 17, no. 1 (March 30, 2020): 7533–41. http://dx.doi.org/10.15282/ijame.17.1.2020.02.0557.

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In recent years, soft actuator has been extensively developed in robotic research. This type of robot is expected to work with human with its flexible and adaptable advantage. The actuator material is soft, light, safe and high compliant. Due to these factors, soft McKibben is of interest as an actuator for this research for bending application. This paper introduces a variant bending analysis of a soft body manipulated using soft McKibben actuators. A series of 1.80 mm width with the length of 120.0 mm McKibben actuator is used to control the bending motion. The design consists of four McKibben actuators arranged in parallel and compacted in a soft body. The bending behavior was evaluated using an experimental test with a variety of pneumatic input pressure and length section on the actuator. The experiment showed that the bending angle was influenced by the segmentation length of the actuator, where the segmentation length and increased input pressure also allow more bending on the actuator. The actuator with lot of section gave more bending response compared to the actuator with lesser section. With the performance exhibited from this study, McKibben actuator can be applied in a wider use for continuum manipulator.

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13

Sárosi, J., G. Szabó-Keszthelyi, and P. Szendrő. "The influence of temperature conditions on position control of fluidic muscle." Progress in Agricultural Engineering Sciences 8, no. 1 (December 2012): 65–73. http://dx.doi.org/10.1556/progress.8.2012.4.

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Pneumatic artificial muscles (PAMs) are of special importance in the field of pneumatic drives and in robotics. Different designs have been developed, but the McKibben muscle is the most popular and is made commercially available by different companies, e.g. Fluidic Muscle manufactured by Festo Company. There are a lot of advantages of PAMs like the high strength, good power/weight ratio, good power/volume ratio, low price, little maintenance needed, great compliance, compactness, flexibility, inherent safety and usage under rough environments. The objective of this research note is to determine the error of positioning with a Fluidic Muscle at cold and at normal operating temperature of the system with sliding mode control. The results of the experiments showed that the positioning error of the Fluidic Muscle under the experimental conditions was 0.01 mm.

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14

Saga, N., J. Nagase, and T. Saikawa. "Pneumatic Artificial Muscles Based on Biomechanical Characteristics of Human Muscles." Applied Bionics and Biomechanics 3, no. 3 (2006): 191–97. http://dx.doi.org/10.1155/2006/427569.

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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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15

FUYUKI, Masanori. "Mckibben pneumatic artificial muscle of high durability by electrostatic flocking." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 (2017): 2A2—B06. http://dx.doi.org/10.1299/jsmermd.2017.2a2-b06.

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16

Nozaki, Takashi, and Toshiro Noritsugu. "Motion Analysis of McKibben Type Pneumatic Rubber Artificial Muscle with Finite Element Method." International Journal of Automation Technology 8, no. 2 (March 5, 2014): 147–58. http://dx.doi.org/10.20965/ijat.2014.p0147.

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This study aims to use three-dimensional (3D) Finite Element Modeling (FEM) to establish a quantitative design optimization method forMcKibben-type pneumatic rubber artificial muscle. First, a simple 3D model that does not account for the friction between the tube and the fiber braid strands and or that between the strands themselves is developed. The model is validated through experimentation, and the usefulness of the model is examined. With this model, the effects of various parameters, e.g., the braid angle, on the operation of the artificial muscle is investigated. It is found that the characteristics of the artificial muscle can be predicted. Thus, the proposed analysis may be a useful design method for braided artificial muscles.

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17

Li, Fei, Yu Wang, He Ting Tong, and Ray P. S. Han. "Empirically-Sourced Mechanical Behaviors of Pneumatic Artificial Muscles for Compensation-Based Controls." Advanced Materials Research 186 (January 2011): 31–35. http://dx.doi.org/10.4028/www.scientific.net/amr.186.31.

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As a skeletal muscle-like actuator, PAM possesses many unique advantages. They include compliance and high power-to-weight ratio, which make it an ideal actuator for robotic and powered exoskeleton applications. But its flexible braided mesh shell and the compressibility of air make PAM much more difficult to model and control compared to traditional actuators. In this work, the mechanical properties of the McKibben PAM produced by Festo are examined, tested and discussed. The results demonstrate the muscle-like property of PAM and its strong non-linear and hysteresis behaviors. A simple law between the areas of the hysteresis and pressure is proposed, and the relationships of the areas of the hysteresis, external load and the continuous working time are studied. Further, changing the PAM length that is smaller than 0.4 mm may lead to the “crawl” phenomenon. Finally, the empirical results can be used in compensation-based controls of the hysteresis in the McKibben PAM.

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18

Peng, Yan, Yonggan Liu, Yang Yang, Na Liu, Yi Sun, Yuanyuan Liu, Huayan Pu, Shaorong Xie, and Jun Luo. "Development of continuum manipulator actuated by thin McKibben pneumatic artificial muscle." Mechatronics 60 (June 2019): 56–65. http://dx.doi.org/10.1016/j.mechatronics.2019.05.001.

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19

Sugisaka, Masanori, and Huailin Zhao. "The characteristics of McKibben muscle based on the pneumatic experiment system." Artificial Life and Robotics 11, no. 2 (July 25, 2007): 223–26. http://dx.doi.org/10.1007/s10015-007-0433-0.

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20

Ferraresi, Carlo, Walter Franco, and Andrea Manuello Bertetto. "Flexible Pneumatic Actuators: A Comparison between The McKibben and the Straight Fibres Muscles." Journal of Robotics and Mechatronics 13, no. 1 (February 20, 2001): 56–63. http://dx.doi.org/10.20965/jrm.2001.p0056.

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The prototypes of a McKibben actuator and a straight fibre muscle are presented. Their experimental characteristics are shown. For both kind of typology a mathematical model, able to evaluate the traction force as a function of the contraction ratio and the supply pressure, has been developed, taking into account the geometrical dimensions of the muscles and the mechanical characteristics of the materials. The models have been validated experimentally. Finally, by means of such models, a comparison between the behaviour and performance of the two kinds of actuator has been carried out.

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21

Visan, Alexandra Liana, Nicolae Alexandrescu, and Ionel Nita. "An Application of Finite Element Modeling to Pneumatic Artificial Muscle from FESTO." Advanced Materials Research 463-464 (February 2012): 818–21. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.818.

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The purpose of this article is to introduce and to present the Pneumatic Artificial Muscle (PAMs) the most used in robotics and automated applications in Europe and Asia. Many treatises discussed the mathematical and numerical modeling, especially for McKibben muscle type. Also, I am going to explain the working principles of PAMs to understand their behavior, how generate forces and translations. Modeling theoretical application made by the others will be discussed and a Finite Element Method Analyze (FEM) of a muscle designee by FESTO will be shown and also will underline the importance of computer design phase applied in robotics and automation. After that we can create a test stand for pneumatic muscle to confirm the catalog sheet and to implement them in a prostheses device power by PAMs.

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22

Noritsugu, Toshiro, Daisuke Sasaki, Masafumi Kameda, Atsushi Fukunaga, and Masahiro Takaiwa. "Wearable Power Assist Device for Standing Up Motion Using Pneumatic Rubber Artificial Muscles." Journal of Robotics and Mechatronics 19, no. 6 (December 20, 2007): 619–28. http://dx.doi.org/10.20965/jrm.2007.p0619.

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As society ages and birth rates fall, the dropping number of caregivers for an increasingly elderly population is expected to become a serious problem, raising the need for devices to assist those having difficulty in leading independent lives. These devices must be used near or directly on their users, making safety and user-friendliness equally important. This raises the need for safe, user-friendly actuators that are compact, lightweight, and appropriately soft. The pneumatic rubber artificial muscle meets this requirement. We developed a wearable power assist device that aids people in standing and uses the McKibben pneumatic rubber artificial muscle. We discuss its structure, basic features, and control. We also present an example of its application to rehabilitation.

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23

Klute, Glenn K., and Blake Hannaford. "Accounting for Elastic Energy Storage in McKibben Artificial Muscle Actuators." Journal of Dynamic Systems, Measurement, and Control 122, no. 2 (December 15, 1998): 386–88. http://dx.doi.org/10.1115/1.482478.

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The McKibben artificial muscle is a pneumatic actuator whose properties include a very high force to weight ratio. This characteristic makes it very attractive for a wide range of applications such as mobile robots and prosthetic appliances for the disabled. In this paper, we present a model that includes a nonlinear, Mooney–Rivlin mathematical description of the actuator’s internal bladder. Experimental results show that the model provides improvement in the ability to predict the actuator’s output force. However, a discrepancy between model and experiment, albeit smaller than previous models, still exists. A number of factors are identified that may be responsible for this discrepancy. [S0022-0434(00)00902-3]

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24

Saito, Naoki, and Toshiyuki Satoh. "Posture Control Considering Joint Stiffness of a Robotic Arm Driven by Rubberless Artificial Muscle." International Journal of Automation Technology 10, no. 4 (July 5, 2016): 503–10. http://dx.doi.org/10.20965/ijat.2016.p0503.

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This paper describes a joint angle control considering the passive joint stiffness of robotic arms driven by rubberless artificial muscle (RLAM), which is a pneumatic actuator. The contraction mechanism of RLAM is the same as that of the McKibben artificial muscle. Unlike the McKibben artificial muscle, RLAM is constructed using an airbag made of a nonelastic material instead of a rubber tube.The objective of this study is to realize a soft contact movement of robotic arms by applying the passive compliance characteristics of RLAMs. In this study, we derive a mathematical expression for the relationship between the output of an RLAM and the joint stiffness of a robotic arm. In addition, we suggest a control scheme for each RLAM. We confirm the validity of these suggestions experimentally. From the result, we observe a good control performance of the joint angle. A robotic arm moves smoothly according to the force added from outside by setting the passive stiffness of the arm.

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25

NAITO, Ryo, and Kiminao KOGISO. "Parameter Estimation of McKibben Pneumatic Artificial Muscle System by Game-theoretic Learning." Transactions of the Society of Instrument and Control Engineers 50, no. 5 (2014): 411–17. http://dx.doi.org/10.9746/sicetr.50.411.

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YOKOYAMA, Kouichirou, and Kiminao KOGISO. "Position Control Experiments of McKibben Pneumatic Artificial Muscle Using Contraction Ratio Estimation." Transactions of the Society of Instrument and Control Engineers 53, no. 11 (2017): 567–73. http://dx.doi.org/10.9746/sicetr.53.567.

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27

Kogiso, Kiminao, and Ryo Naito. "Mathematical Model of McKibben Pneumatic Artificial Muscle Systems Involving Load-Dependent Parameters." Transactions of the Institute of Systems, Control and Information Engineers 26, no. 7 (2013): 269–76. http://dx.doi.org/10.5687/iscie.26.269.

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28

Villegas, Daniel, Michaël Van Damme, Bram Vanderborght, Pieter Beyl, and Dirk Lefeber. "Third–Generation Pleated Pneumatic Artificial Muscles for Robotic Applications: Development and Comparison with McKibben Muscle." Advanced Robotics 26, no. 11-12 (July 2012): 1205–27. http://dx.doi.org/10.1080/01691864.2012.689722.

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29

Li, Xiangpan, Toshiro Noritsugu, Masahiro Takaiwa, and Daisuke Sasaki. "Design of Wearable Power Assist Wear for Low Back Support Using Pneumatic Actuators." International Journal of Automation Technology 7, no. 2 (March 5, 2013): 228–36. http://dx.doi.org/10.20965/ijat.2013.p0228.

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This research focuses on developing a safe, lightweight, power assist device that can be worn by people during lifting or static holding tasks to prevent them from experiencing Low Back Pain (LBP). In consideration of their flexibility, light weight, and large force to weight ratio, two types of pneumatic actuators are employed in assisting low back movement for their safety and comfort. Actuator A is an elongation-type pneumatic rubber artificial muscle that is installed in the outer layer of the garment. Its two ends are fixed on the shoulders and thighs. It can output contractile force, assisting the erector spinae muscles in the same direction. Compared to McKibben-type pneumatic rubber artificial muscle, the elongation type has a larger contraction rate. Actuator B is a layer-type of pneumatic actuator; it is composed of two balloons, and it is installed in the inner layer of the garment. By taking into account the biomechanic structure of the human spine, this device can provide support in two ways. Actuator A acts as an external muscle power generators to reduce the force requirement for the erector spinae muscles. As actuator B acts as a moment arm of the contractile force generated by actuator A, it will increase the effective amount of torque. The device can be worn directly on the body like normal clothing. Because there is no rigid exoskeleton frame structure, it is lightweight and user friendly. The system’s Inertial Measurement Unit (IMU), composed of accelerometer sensors and gyro sensors to measure the human motion signals, can monitor the angles of the human body in real-time mode. By measuring the EMG signal of the human erector spinae muscles, the assistance effectiveness of the proposed device has been proven through experiments.

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30

IWAKI, Masahiro, Yasuhisa HASEGAWA, and Yoshiyuki SANKAI. "2A1-D11 Study on the wearable hand assistive system using McKibben pneumatic artificial muscle." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010 (2010): _2A1—D11_1—_2A1—D11_4. http://dx.doi.org/10.1299/jsmermd.2010._2a1-d11_1.

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31

INOUE, Hayato, Derek Chun, and Koh HOSODA. "Port-Hamiltonian approach to characterize the McKibben pneumatic artificial muscle to design energy efficient systems." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (2020): 1P1—L07. http://dx.doi.org/10.1299/jsmermd.2020.1p1-l07.

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32

Escudero, A. Z., Ja Alvarez, and L. Leija. "Development and characterisation of electromechanical muscles for driving trans-humeral myoelectric prostheses." Prosthetics and Orthotics International 26, no. 3 (December 2002): 226–34. http://dx.doi.org/10.1080/03093640208726652.

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Recently, attempts have been made to construct actuators with similar behaviour to natural muscles. However the results have been inadequate for application to practical prostheses. For example, muscle wire, which has too low an efficiency to be powered by batteries and McKibben muscles which require two power supplies, one electric and one pneumatic. Electrochemical muscles are still in the development stage and cannot yet be used for prostheses. In this paper, a new electromechanical actuator is presented, which provides rectilinear movement and linear characteristics. This electromechanical actuator is based on a ball screw and rare earth magnet coreless motors. The system has been characterised and some of the most important results are that it produces a force of 167N while developing a velocity of 7×10-3m/s. The force developed is proportional to the current drained. Its efficiency is about 32%, its total mass 0.19kg and it is light and compact enough to be used in practical clinical prosthesis.

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Liu, Yonggan, Yang Yang, Yan Peng, Songyi Zhong, Na Liu, and Huayan Pu. "A Light Soft Manipulator With Continuously Controllable Stiffness Actuated by a Thin McKibben Pneumatic Artificial Muscle." IEEE/ASME Transactions on Mechatronics 25, no. 4 (August 2020): 1944–52. http://dx.doi.org/10.1109/tmech.2020.2993017.

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IWAMOTO, Remi, Yasuhiro SUGIMOTO, Daisuke NAKANISHI, Keisuke NANIWA, Takahiro GOTO, and Koichi OSUKA. "Verification of the effect of biarticular muscle on the jumping motion of the legged robot driven by McKibben pneumatic muscles." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (2020): 1P2—H03. http://dx.doi.org/10.1299/jsmermd.2020.1p2-h03.

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Lee, Sangmin, Hyeongseok Kang, Bohyun Hwang, and Byungkyu Kim. "Design and Evaluation of a Bending Actuator for a Robotic Uterine Manipulator, based on a McKibben Pneumatic Artificial Muscle." Journal of the Korean Society of Manufacturing Technology Engineers 29, no. 6 (December 31, 2020): 413–21. http://dx.doi.org/10.7735/ksmte.2020.29.6.413.

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Tu, Qin, Yanjie Wang, Donghai Yue, and Frank Agyen Dwomoh. "Analysis on the Impact Factors for the Pulling Force of the McKibben Pneumatic Artificial Muscle by a FEM Model." Journal of Robotics 2020 (January 22, 2020): 1–11. http://dx.doi.org/10.1155/2020/4681796.

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Modelling the behaviour of Pneumatic Artificial Muscle (PAM) has proven difficult due to its highly complicated structure, nonlinear nature of rubbery material, and air compressibility. To overcome these limitations, a FEM (Finite Element Method) model using Abaqus and CATIA is derived for the quantitative analysis on the impact of different factors on the pulling force of PAM. In the Abaqus a two parameter Mooney–Rivlin model is utilized to consider the hyper-elastic nature of flexible material. Then both Abaqus and CATIA are used in the parametric design of a 3-Dimensional model of PAM. Furthermore, the FEM model is employed to predict the static force exerted by PAM and the results show that the model is promising. The FEM model produces closer results to the test data for the typical PAM. Nonlinear behaviour of PAM is found to be obvious with an increase in both the contraction and the air pressure, different from the linear curves obtained by the fundamental geometrical model. Nonlinear changes in the PAM force are also observed in the numerical study on the effect of structural factors including initial braid angle, initial diameter, initial wall thickness, and flexible material. Besides, these phenomena can be explained by a connection between mechanical and morphological behaviour of PAMs with the FEM model. Generally, this modelling approach is more accurate compared to the fundamental theoretical model and more cost competitive compared to the empirical methods.

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Nasir, Abdul, Tetsuya Akagi, Shujiro Dohta, Ayumu Ono, and Yusuke Masago. "Development of Low-Cost Wearable Servo Valve Using Buckled Tube Driven by Servo Motor." Applied Mechanics and Materials 393 (September 2013): 532–37. http://dx.doi.org/10.4028/www.scientific.net/amm.393.532.

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Recently, power assisted nursing care systems have received much attention and those researches have been done actively. In such a control system, an actuator and a control valve are mounted on the human body. Designing the system, the size and weight of the valve become serious concerns. The purpose of our study is to develop a small-sized, lightweight and low-cost servo valve for precise control using wearable pneumatic actuators. In this study, a low-cost wearable servo valve that can control the output flow rate by changing the twisted angle of the buckled tube in the servo valve is proposed and tested. The position control system of McKibben rubber artificial muscle using tested valve and embedded controller is also proposed and tested. As a result, we confirmed that the tested servo valve can control the flow rate in both supply and exhaust in an analog way. In addition, the estimated cost of the proposed valve can be reduced about 100 times cheaper (10 US Dollar) compared with the typical servo valve.

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Al-Ibadi, Alaa, Samia Nefti-Meziani, and Steve Davis. "Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA." Actuators 6, no. 4 (October 27, 2017): 32. http://dx.doi.org/10.3390/act6040032.

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IHARA, Michinori, Shujiro DOHTA, and Tetsuya AKAGI. "0707 Improvement of a Pneumatic McKibben Artificial Muscle with a Long Stroke Motion and its Application to the Power Assisted Device." Proceedings of the Bioengineering Conference Annual Meeting of BED/JSME 2009.22 (2010): 110. http://dx.doi.org/10.1299/jsmebio.2009.22.110.

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NOZAKI, Takashi, and Toshiro NORITSUGU. "Force Analysis of McKibben Type Pneumatic Rubber Artificial Muscle with Finite Element Method : Model without Friction between Plastics Fibers(Mechanical Systems)." Transactions of the Japan Society of Mechanical Engineers Series C 76, no. 763 (2010): 580–86. http://dx.doi.org/10.1299/kikaic.76.580.

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IWAKI, Masahiro, Yasuhisa HASEGAWA, and Yoshiyuki SANKAI. "2A1-I08 Fingertip stiffness control using polyarticular tendon drive system with McKibben pneumatic artificial muscle(Mechanism and Control for Wire Actuation System)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011 (2011): _2A1—I08_1—_2A1—I08_4. http://dx.doi.org/10.1299/jsmermd.2011._2a1-i08_1.

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NOZAKI, Takashi, and Toshiro NORITSUGU. "Motion Analysis of McKibben Type of Pneumatic Rubber Artificial Muscle with Finite Element Method : Model without Friction Between Plastics Fibers(Mechanical Systems)." Transactions of the Japan Society of Mechanical Engineers Series C 75, no. 754 (2009): 1755–62. http://dx.doi.org/10.1299/kikaic.75.1755.

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Al-Ibadi, Alaa, Samia Nefti-Meziani, Steve Davis, and Theo Theodoridis. "Novel Design and Position Control Strategy of a Soft Robot Arm." Robotics 7, no. 4 (November 13, 2018): 72. http://dx.doi.org/10.3390/robotics7040072.

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This article presents a novel design of a continuum arm, which has the ability to extend and bend efficiently. Numerous designs and experiments have been done to different dimensions on both types of McKibben pneumatic muscle actuators (PMA) in order to study their performances. The contraction and extension behaviour have been illustrated with single contractor actuators and single extensor actuators, respectively. The tensile force for the contractor actuator and the compressive force for the extensor PMA are thoroughly explained and compared. Furthermore, the bending behaviour has been explained for a single extensor PMA, multi extensor actuators and multi contractor actuators. A two-section continuum arm has been implemented from both types of actuators to achieve multiple operations. Then, a novel construction is proposed to achieve efficient bending behaviour of a single contraction PMA. This novel design of a bending-actuator has been used to modify the presented continuum arm. Two different position control strategies are presented, arising from the results of the modified soft robot arm experiment. A cascaded position control is applied to control the position of the end effector of the soft arm at no load by efficiently controlling the pressure of all the actuators in the continuum arm. A new algorithm is then proposed by distributing the x, y and z-axis to the actuators and applying an effective closed-loop position control to the proposed arm at different load conditions.

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Chambers, Jonathan M., and Norman M. Wereley. "Influence of hydraulic versus pneumatic working fluids on quasi-static force response of fluidic artificial muscles." Journal of Intelligent Material Systems and Structures 32, no. 3 (February 2021): 385–96. http://dx.doi.org/10.1177/1045389x21991927.

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There is currently an increased interest in extending the application of McKibben actuators beyond gaseous environments and working fluids. Extensive efforts have already established force response models for pneumatically driven McKibben actuators that are independent of working fluid material properties, however, the model’s independence to working fluid choice has yet to be validated with empirical evidence. This paper experimentally investigates the effect of working fluid type on the quasi-static pressure dependent force-contraction response of McKibben actuators. Using either air or water as the working fluid, characteristic isobaric force-contraction response curves are compared for both large and small-scale McKibben actuators. To ensure truly isobaric force-contraction characterizations, hydraulic and pneumatic pressure systems were developed to provide precise and accurate control of pressure. Experimental testing proved using air or water as the working fluid resulted in nearly identical isobaric force-contraction response curves, demonstrating that McKibben actuator’s quasi-static force response is independent of working fluid choice. This study establishes that the applicability of existing force response models for pneumatic McKibben actuators can be extended to any practical liquids or gases.

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URABE, Kentaro, Ryo NAITO, and Kiminao KOGISO. "Experimental Validation on McKibben Pneumatic Artificial Muscles Models." Transactions of the Society of Instrument and Control Engineers 51, no. 4 (2015): 267–73. http://dx.doi.org/10.9746/sicetr.51.267.

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Ching-Ping Chou and B. Hannaford. "Measurement and modeling of McKibben pneumatic artificial muscles." IEEE Transactions on Robotics and Automation 12, no. 1 (1996): 90–102. http://dx.doi.org/10.1109/70.481753.

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ISHIKAWA, Takahiro, Yu NISHIYAMA, and Kiminao KOGISO. "Characteristic Extraction for Model Parameters of McKibben Pneumatic Artificial Muscles." SICE Journal of Control, Measurement, and System Integration 11, no. 4 (2018): 357–64. http://dx.doi.org/10.9746/jcmsi.11.357.

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Xiang, Chaoqun, Maria Elena Giannaccini, Theo Theodoridis, Lina Hao, Samia Nefti-Meziani, and Steven Davis. "Variable stiffness Mckibben muscles with hydraulic and pneumatic operating modes." Advanced Robotics 30, no. 13 (April 14, 2016): 889–99. http://dx.doi.org/10.1080/01691864.2016.1154801.

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Kawamura, Shuhei, Mizuki Sudani, Mingcong Deng, Yuichi Noge, and Shuichi Wakimoto. "Modeling and System Integration for a Thin Pneumatic Rubber 3-DOF Actuator." Actuators 8, no. 2 (April 16, 2019): 32. http://dx.doi.org/10.3390/act8020032.

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Recently, soft actuators have been getting increased attention within various fields. The actuators are composed of flexible materials and driven by pneumatic pressure. A thin pneumatic rubber actuator generating 3 degrees of freedom motion, called 3-DOF micro-hand, has small diameter McKibben artificial muscles which generate a contraction force in the axial direction. By this structure, the micro-hand contracts in the longitudinal direction and bends in any direction by changing the applied air pressure pattern to the artificial muscles. The input–output relation of the micro-hand, however, is complicated and has not been modeled. In this paper, modeling for 3-DOF micro-hand is proposed. Moreover, the experimental system is built for the micro-hand and the proposed model is evaluated by using the experimental results.

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Sasaki, Daisuke, Toshiro Noritsugu, and Masahiro Takaiwa. "Development of Active Support Splint Driven by Pneumatic Soft Actuator (ASSIST)." Journal of Robotics and Mechatronics 16, no. 5 (October 20, 2004): 497–503. http://dx.doi.org/10.20965/jrm.2004.p0497.

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In this study, in order to realize an assist of independent life for the elderly or people in need of care and relieve a physical burden for care worker, an active support splint driven by pneumatic soft actuator (ASSIST) has been developed. ASSIST consists of a plastic interface with the palm and arm and two rotary-type soft actuators put in both sides of appliance. McKibben type pneumatic rubber muscles are on the both sides of rotary-type soft actuators for relieving a restrained feeling when the device is not operated. In this paper, the structure of ASSIST is described, and then the effectiveness of this splint is experimentally discussed based on the experiments for movable range assist for the wrist.

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