Accession Number : ADA299458

Title :   Measurement and Modeling of McKibben Pneumatic Artificial Muscles.

Corporate Author : WASHINGTON UNIV SEATTLE DEPT OF ELECTRICAL ENGINEERING

Personal Author(s) : Chou, Ching-Ping ; Hannaford, Blake

PDF Url : ADA299458

Report Date : 1992

Pagination or Media Count : 35

Abstract : This paper reports mechanical testing and modeling results for the McKibben artificial muscle pneumatic actuator. This device, first developed in the 1950's, contains an expanding tube surrounded by braided cords. We report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models. The results are briefly compared with human muscle properties to evaluate the suitability of McKibben actuators for human muscle emulation in biologically based robot arms.

Descriptors :   *MUSCLES, *MUSCULOSKELETAL SYSTEM, *ARTIFICIAL LIMBS, ROBOTICS, HUMANS, PHYSICAL PROPERTIES, STIFFNESS, ELASTIC PROPERTIES, PASSIVE SYSTEMS, HIGH PRESSURE, RUBBER, SHELLS(STRUCTURAL FORMS), JAPAN, GASES, MESH, SURFACES, NONLINEAR SYSTEMS, INTERNAL, CONFIGURATIONS, LIGHTWEIGHT, COMPANY LEVEL ORGANIZATIONS, ACTUATORS, BRAIDS, BLADDERS, PNEUMATIC EQUIPMENT, FITTINGS, SKELETON.

Subject Categories : Anatomy and Physiology
      Medicine and Medical Research

Distribution Statement : APPROVED FOR PUBLIC RELEASE