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

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dc.contributor.authorYang, H.D.en
dc.contributor.authorGreczek, B.T.en
dc.contributor.authorAsbeck, Alan T.en
dc.contributor.departmentMechanical Engineeringen
dc.date.accessioned2019-04-08T13:33:47Zen
dc.date.available2019-04-08T13:33:47Zen
dc.date.issued2019-01-07en
dc.description.abstractWe 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%.en
dc.format.mimetypeapplication/pdfen
dc.identifier.doihttps://doi.org/10.3389/frobt.2018.00136en
dc.identifier.issn22969144en
dc.identifier.issueJANen
dc.identifier.other136en
dc.identifier.urihttp://hdl.handle.net/10919/88862en
dc.identifier.volume6en
dc.language.isoen_USen
dc.publisherFrontiers Media S.A.en
dc.rightsCreative Commons Attribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en
dc.subjectIntegrated sensingen
dc.subjectPneumatic muscleen
dc.subjectRobotic actuatoren
dc.subjectSoft actuatoren
dc.subjectTextile actuatoren
dc.titleModeling and analysis of a high-displacement pneumatic artificial muscle with integrated sensingen
dc.title.serialFrontiers Robotics AIen
dc.typeArticle - Refereeden
dc.type.dcmitypeTexten

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