Measurement and Modeling of McKibben Pneumatic Artificial Muscles.

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Abstract:

This paper reports mechanical testing and modeling results for the McKibben artificial muscle pneumatic actuator. This device, first developed in the 1950s, 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.

Author(s):
Chou, Ching-ping ; Hannaford, Blake
Author Organization(s):
WASHINGTON UNIV SEATTLE DEPT OF ELECTRICAL ENGINEERING
Pagination:
0035

Security Markings

DOCUMENT & CONTEXTUAL SUMMARY

Distribution:
Approved For Public Release

RECORD

Collection: TR
Identifying Numbers
Contract/Grant Number(s):
N00014-92-J-1401
Monitor Series:
ONR
 Subject Terms
Joint Capability Areas:
JCA_1.2.7_Experimentation; JCA_1_Force Support; JCA_1.3_Human Capital Management; JCA_4.2.3_Manage Global Supplier Networks; JCA_4.2_Supply; JCA_5_Command and Control; JCA_1.3.2_Personnel Management; JCA_5.3_Planning; JCA_1.2_Force Preparation; JCA_1.4.2_Health Service Delivery; JCA_1.4_Force Support; JCA_1.2.3_Educating; JCA_4.6_Engineering; JCA_6_Net Centric
Modernization Areas:
Directed Energy; Autonomy
Communities of Interest:
Energy and Power Technologies
Descriptor(s):
*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
Field(s)/Group(s):
Anatomy and Physiology, Medicine and Medical Research
Report Date:
1992 Jan 01