Modeling and analysis of a high-displacement pneumatic artificial muscle with integrated sensing

We present a high-displacement pneumatic artificial muscle made of textiles or plastics that can include integrated electronics to sense its pressure and displacement. Compared to traditional pneumatic muscle actuators such as the McKibben actuator and other more recent soft actuators, the actuator described in this paper can produce a much higher (40~65%) contraction ratio. In this paper, we describe the design, fabrication, and evaluation of the actuator, as well as the manufacturing process used to create it. We demonstrate the actuator design with several examples that produce 120 and 300 N at pressures of 35 and 105 kPa, respectively, and have contraction ratios of 40-65%.