Development of a pneumatic artificial muscle based on biomechanical characteristics

被引：13

作者：

Saga, Norihiko ^{[1
]}

Saikawa, Takashi ^{[1
]}

机构：

[1] Akita Prefectural Univ, Akita 0150055, Japan

来源：

ADVANCED ROBOTICS | 2008年 / 22卷 / 6-7期

关键词：

pneumatic actuator; artificial muscle actuator; biomechanical characteristics; isotonic contraction; isometric contraction;

D O I：

10.1163/156855308X305317

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper reports the development of a pneumatic artificial muscle based on biomechanical characteristics. A wearable device and a rehabilitation robot which assists humans should have characteristics similar to those of human muscles. In addition, because 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. However, its physical model is highly nonlinear. Therefore, we have developed a new artificial muscle. In this paper, we report experimental results of the fundamental characteristics and biomechanical characteristics. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008.

引用

页码：761 / 770

页数：10

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