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Journal articles on the topic 'Artificial muscles'

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Author: Grafiati

Published: 4 June 2021

Last updated: 11 March 2023

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1

Tiwari, Rashi, Michael A. Meller, Karl B. Wajcs, Caris Moses, Ismael Reveles, and Ephrahim Garcia. "Hydraulic artificial muscles." Journal of Intelligent Material Systems and Structures 23, no. 3 (February 2012): 301–12. http://dx.doi.org/10.1177/1045389x12438627.

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This article presents hydraulic artificial muscles as a viable alternative to pneumatic artificial muscles. Despite the actuation mechanism being similar to its pneumatic counterpart, hydraulic artificial muscles have not been widely studied. Hydraulic artificial muscles offer all the same advantages of pneumatic artificial muscles, such as compliance, light weight, low maintenance, and low cost, when compared to traditional fluidic cylinder actuators. Muscle characterization in isometric and isobaric conditions are discussed and compared to pneumatic artificial muscles. A quasi-static model incorporating the effect of mesh angle, friction, and muscle volume change throughout actuation is presented. This article also discusses the use of hydraulic artificial muscles for low-pressure hydraulic mesoscale robotic leg.

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2

Haines, Carter S., Na Li, Geoffrey M. Spinks, Ali E. Aliev, Jiangtao Di, and Ray H. Baughman. "New twist on artificial muscles." Proceedings of the National Academy of Sciences 113, no. 42 (September 26, 2016): 11709–16. http://dx.doi.org/10.1073/pnas.1605273113.

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Lightweight artificial muscle fibers that can match the large tensile stroke of natural muscles have been elusive. In particular, low stroke, limited cycle life, and inefficient energy conversion have combined with high cost and hysteretic performance to restrict practical use. In recent years, a new class of artificial muscles, based on highly twisted fibers, has emerged that can deliver more than 2,000 J/kg of specific work during muscle contraction, compared with just 40 J/kg for natural muscle. Thermally actuated muscles made from ordinary polymer fibers can deliver long-life, hysteresis-free tensile strokes of more than 30% and torsional actuation capable of spinning a paddle at speeds of more than 100,000 rpm. In this perspective, we explore the mechanisms and potential applications of present twisted fiber muscles and the future opportunities and challenges for developing twisted muscles having improved cycle rates, efficiencies, and functionality. We also demonstrate artificial muscle sewing threads and textiles and coiled structures that exhibit nearly unlimited actuation strokes. In addition to robotics and prosthetics, future applications include smart textiles that change breathability in response to temperature and moisture and window shutters that automatically open and close to conserve energy.

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3

Ashley, Steven. "Artificial Muscles." Scientific American sp 18, no. 1 (February 2008): 64–71. http://dx.doi.org/10.1038/scientificamerican0208-64sp.

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4

Ashley, Steven. "Artificial Muscles." Scientific American 289, no. 4 (October 2003): 52–59. http://dx.doi.org/10.1038/scientificamerican1003-52.

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5

Saga, N., J. Nagase, and T. Saikawa. "Pneumatic Artificial Muscles Based on Biomechanical Characteristics of Human Muscles." Applied Bionics and Biomechanics 3, no. 3 (2006): 191–97. http://dx.doi.org/10.1155/2006/427569.

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This article reports the pneumatic artificial muscles based on biomechanical characteristics of human muscles. A wearable device and a rehabilitation robot that assist a human muscle should have characteristics similar to those of human muscle. In addition, since 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, but in fact its physical model is highly nonlinear. Therefore, an artificial muscle actuator has been developed in which high-strength carbon fibres have been built into the silicone tube. However, its contraction rate is smaller than the actual biological muscles. On the other hand, if an artificial muscle that contracts axially is installed in a robot as compactly as the robot hand, big installing space is required. Therefore, an artificial muscle with a high contraction rate and a tendon-driven system as a compact actuator were developed, respectively. In this study, we report on the basic structure and basic characteristics of two types of actuators.

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6

Tomori, Hiroki, and Taro Nakamura. "Theoretical Comparison of McKibben-Type Artificial Muscle and Novel Straight-Fiber-Type Artificial Muscle." International Journal of Automation Technology 5, no. 4 (July 5, 2011): 544–50. http://dx.doi.org/10.20965/ijat.2011.p0544.

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Robots have entered human life, and closer relationships are being formed between humans and robots. It is desirable that these robots be flexible and lightweight. With this as our goal, we have developed an artificial muscle actuator using straight-fiber-type artificial muscles derived from the McKibben-type muscles, which have excellent contraction rate and force characteristics. In this study, we compared the steady state and dynamic characteristic of straightfiber-type and McKibben-type muscles and verified the usefulness of straight-fiber-type muscles.

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7

Tóthová, Mária, Ján Piteľ, and Jana Boržíková. "Operating Modes of Pneumatic Artificial Muscle Actuator." Applied Mechanics and Materials 308 (February 2013): 39–44. http://dx.doi.org/10.4028/www.scientific.net/amm.308.39.

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The paper describes operating modes of the PAM based actuator consisting of two pneumatic artificial muscles (PAMs) in antagonistic connection. The artificial muscles are acting against themselves and resultant position of the actuator is given by equilibrium of their forces according to different pressures in muscles. The main requirement for operation of such pneumatic actuator is uniform movement and accurate arm position control according to input desired variable. There are described in paper operation characteristics of the pneumatic artificial muscle in variable pressure and then operation characteristics of the pneumatic artificial muscle actuator consisting of two muscles in antagonistic connection.

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8

Houle-Leroy, Philippe, Helga Guderley, John G. Swallow, and Theodore Garland. "Artificial selection for high activity favors mighty mini-muscles in house mice." American Journal of Physiology-Regulatory, Integrative and Comparative Physiology 284, no. 2 (February 1, 2003): R433—R443. http://dx.doi.org/10.1152/ajpregu.00179.2002.

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After 14 generations of selection for voluntary wheel running, mice from the four replicate selected lines ran, on average, twice as many revolutions per day as those from the four unselected control lines. To examine whether the selected lines followed distinct strategies in the correlated responses of the size and metabolic capacities of the hindlimb muscles, we examined mice from selected lines, housed for 8 wk in cages with access to running wheels that were either free to rotate (“wheel access” group) or locked (“sedentary”). Thirteen of twenty individuals in one selected line (line 6) and two of twenty in another (line 3) showed a marked reduction (∼50%) in total hindlimb muscle mass, consistent with the previously described expression of a small-muscle phenotype. Individuals with these “mini-muscles” were not significantly smaller in total body mass compared with line-mates with normal-sized muscles. Access to free wheels did not affect the relative mass of the mini-muscles, but did result in typical mammalian training effects for mitochondrial enzyme activities. Individuals with mini-muscles showed a higher mass-specific muscle aerobic capacity as revealed by the maximal in vitro rates of citrate synthase and cytochrome c oxidase. Moreover, these mice showed the highest activities of hexokinase and carnitine palmitoyl transferase. Females with mini-muscles showed the highest levels of phosphofructokinase, and males with mini-muscles the highest levels of pyruvate dehydrogenase. As shown by total muscle enzyme contents, the increase in mass-specific aerobic capacity almost completely compensated for the reduction caused by the “loss” of muscle mass. Moreover, the mini-muscle mice exhibited the lowest contents of lactate dehydrogenase and glycogen phosphorylase. Interestingly, metabolic capacities of mini-muscled mice resemble those of muscles after endurance training. Overall, our results demonstrate that during selection for voluntary wheel running, distinct adaptive paths that differentially exploit the genetic variation in morphological and physiological traits have been followed.

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9

Zhang, Zhiye, and Michael Philen. "Pressurized artificial muscles." Journal of Intelligent Material Systems and Structures 23, no. 3 (September 11, 2011): 255–68. http://dx.doi.org/10.1177/1045389x11420592.

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Pressurized artificial muscles are reviewed. These actuators consist of stiff reinforcing fibers surrounding an elastomeric bladder and operate using a pressurized internal fluid. The pressurized artificial muscles, known as McKibben actuators or flexible matrix composite actuators, can be applied to a wide array of applications, including prosthetics/orthotics, robots, morphing wing technologies, and variable stiffness structures. Analytical models for predicting the response behavior have used both virtual work methods and continuum mechanics. Various nonlinear control algorithms have been developed, including sliding mode control (SMC), adaptive control, neural networks, etc. In addition to traditional fluid-driving methods, innovative techniques such as chemical and electrical driving techniques are reviewed. With improved manufacturing techniques, the operational life of pressurized artificial muscles has been significantly extended, thus making them suitable for a vast range of potential applications.

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10

Chen, Chien-Chun, Wen-Pin Shih, Pei-Zen Chang, Hsi-Mei Lai, Shing-Yun Chang, Pin-Chun Huang, and Huai-An Jeng. "Onion artificial muscles." Applied Physics Letters 106, no. 18 (May 4, 2015): 183702. http://dx.doi.org/10.1063/1.4917498.

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11

Mirfakhrai, Tissaphern, John D. W. Madden, and Ray H. Baughman. "Polymer artificial muscles." Materials Today 10, no. 4 (April 2007): 30–38. http://dx.doi.org/10.1016/s1369-7021(07)70048-2.

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12

Aziz, Shazed, and Geoffrey M. Spinks. "Torsional artificial muscles." Materials Horizons 7, no. 3 (2020): 667–93. http://dx.doi.org/10.1039/c9mh01441a.

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13

Iwata, Kazuhiro, Koichi Suzumori, and Shuichi Wakimoto. "Development of Contraction and Extension Artificial Muscles with Different Braid Angles and Their Application to Stiffness Changeable Bending Rubber Mechanismby Their Combination." Journal of Robotics and Mechatronics 23, no. 4 (August 20, 2011): 582–88. http://dx.doi.org/10.20965/jrm.2011.p0582.

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Recently, there has been increasing researches on the McKibben type artificial muscle, because it is small, light, and high powered. In this study, in addition to the contraction artificial muscle, the stiffness change artificial muscle and the extending artificial muscle have been developed. By nonlinear finite element method analysis, the best sleeve knitting angle has been derived to achieve the stiffness change and the extension and contraction motions. From the results, three kinds of artificial muscles realizing contraction and extension motion, and the stiffness change have been fabricated. To apply high hydraulic pressure on the muscles, these are composed of the three layer tube and the reverse tapered plug. We confirmed that the three muscles respectively generate stiffness change, contraction, and extension motions successfully. In addition, the novel bending actuator has been developed by combining contractional and extensional artificial muscles. Bending motion with high stiffness has been realized.

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14

Iwata, Kazuhiro, Koichi Suzumori, and Shuichi Wakimoto. "A Method of Designing and Fabricating Mckibben Muscles Driven by 7 MPa Hydraulics." International Journal of Automation Technology 6, no. 4 (July 5, 2012): 482–87. http://dx.doi.org/10.20965/ijat.2012.p0482.

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Research has recently been increasing on light weight and high-power robot hands that use artificial muscles. By applying ultra high strength PBO fiber sleeves to McKibben artificial muscles, new hydraulic artificial muscles have been developed in our laboratory. In this research, to apply this technology to a high-power robot easily, we have developed new, thin, hydraulic artificial muscles. While the hydraulic artificial muscles reported in our previous paper were driven by a maximum water pressure of 4 MPa, the newly developed thin muscles are driven by water with a maximum pressure of 7 MPa, resulting in very high force capability. This paper details the materials and structure of the new artificial muscles and reports the results of experiments on them. The muscles developed in this work are based on a sleeve and rubber tube design. The movements of the muscles depend on the angle of the knit of sleeve: an angle of less than 54.5 deg produces contraction while an angle of more than 54.5 deg produces extension. Based on this idea, we optimize, using FEM analysis, the angle of knit of the sleeve of each muscle. As a result, a high powered artificial muscle 21 mm in diameter which generates 8 kN of contraction force has been successfully developed.

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15

Sárosi, József, János Gyeviki, and Sándor Csikós. "Mesterséges pneumatikus izomelemek modellezése és paramétereinek szimulációja MATLAB környezetben." Jelenkori Társadalmi és Gazdasági Folyamatok 5, no. 1-2 (January 1, 2010): 273–77. http://dx.doi.org/10.14232/jtgf.2010.1-2.273-277.

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Pneumatic artificial muscles (PAMs) are becoming more commonly used as actuators in modern robotics. The most made and common type of these artificial muscles in use is the McKibben artificial muscle that was developed in 1950's. The braided muscle is composed of gas-tight elastic bladder, surrounded by braided sleeves. Typical materials used for the membrane constructions are latex and silicone rubber, while nylon is normally used in the fibres. This paper presents the geometric model of PAM and different MATLAB models for pneumatic artificial muscles. The aim of our models is to relate the pressure and length of the pneumatic artificial muscles to the force it exerts along its entire exists.

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16

Tang, Gang, Chang Zhuan Shao, Yuan Jiang, Xiong Hu, Tian Hao Tang, and Christophe Claramunt. "The Imitation of Muscles Stretching Device." Applied Mechanics and Materials 863 (February 2017): 220–23. http://dx.doi.org/10.4028/www.scientific.net/amm.863.220.

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This paper presents a review of some of the applications for artificial muscle and several material of artificial muscle. We focus attention on the polymer material artificial muscle, which responds to electrical stimulation with a significant change in shape or size. Through our research on a variety of materials and the analysis of the mechanical properties of muscle movement, finally we designed the artificial muscle device the imitation of muscles stretching device. This article describes the structure and performance of the device.

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17

Li, Shuguang, Daniel M. Vogt, Daniela Rus, and Robert J. Wood. "Fluid-driven origami-inspired artificial muscles." Proceedings of the National Academy of Sciences 114, no. 50 (November 27, 2017): 13132–37. http://dx.doi.org/10.1073/pnas.1713450114.

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Artificial muscles hold promise for safe and powerful actuation for myriad common machines and robots. However, the design, fabrication, and implementation of artificial muscles are often limited by their material costs, operating principle, scalability, and single-degree-of-freedom contractile actuation motions. Here we propose an architecture for fluid-driven origami-inspired artificial muscles. This concept requires only a compressible skeleton, a flexible skin, and a fluid medium. A mechanical model is developed to explain the interaction of the three components. A fabrication method is introduced to rapidly manufacture low-cost artificial muscles using various materials and at multiple scales. The artificial muscles can be programed to achieve multiaxial motions including contraction, bending, and torsion. These motions can be aggregated into systems with multiple degrees of freedom, which are able to produce controllable motions at different rates. Our artificial muscles can be driven by fluids at negative pressures (relative to ambient). This feature makes actuation safer than most other fluidic artificial muscles that operate with positive pressures. Experiments reveal that these muscles can contract over 90% of their initial lengths, generate stresses of ∼600 kPa, and produce peak power densities over 2 kW/kg—all equal to, or in excess of, natural muscle. This architecture for artificial muscles opens the door to rapid design and low-cost fabrication of actuation systems for numerous applications at multiple scales, ranging from miniature medical devices to wearable robotic exoskeletons to large deployable structures for space exploration.

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18

Saga, Norihiko, Kunio Shimada, Douhaku Inamori, Naoki Saito, Toshiyuki Satoh, and Jun-ya Nagase. "Smart Pneumatic Artificial Muscle Using a Bend Sensor like a Human Muscle with a Muscle Spindle." Sensors 22, no. 22 (November 19, 2022): 8975. http://dx.doi.org/10.3390/s22228975.

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Shortage of labor and increased work of young people are causing problems in terms of care and welfare of a growing proportion of elderly people. This is a looming social problem because people of advanced ages are increasing. Necessary in the fields of care and welfare, pneumatic artificial muscles in actuators of robots are being examined. Pneumatic artificial muscles have a high output per unit of weight, and they are soft, similarly to human muscles. However, in previous research of robots using pneumatic artificial muscles, rigid sensors were often installed at joints and other locations due to the robots’ structures. Therefore, we developed a smart actuator that integrates a bending sensor that functions as a human muscle spindle; it can be externally attached to the pneumatic artificial muscle. This paper reports a smart artificial muscle actuator that can sense contraction, which can be applied to developed self-monitoring and robot posture control.

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19

Gyeviki, János, József Sárosi, Antal Véha, and Péter Toman. "Experimental investigation of characteristics of pneumatic artificial muscles." Jelenkori Társadalmi és Gazdasági Folyamatok 5, no. 1-2 (January 1, 2010): 244–48. http://dx.doi.org/10.14232/jtgf.2010.1-2.244-248.

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The characteristics of pneumatic artificial muscles (PAMs) make them very interesting for the development of robotic and prosthesis applications. The McKibben muscle is the most popular and is made commercially available by different companies. The aim of this research is to acquire as much information about the pneumatic artificial muscles as we can with our test-bed that was developed by us and to be able to adopt these muscles as a part of prosthesis. This paper presents the set-up constructed, and then describes some mechanical testing results for the pneumatic artificial muscles.

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20

Chapman, Edward M., and Matthew Bryant. "Bioinspired passive variable recruitment of fluidic artificial muscles." Journal of Intelligent Material Systems and Structures 29, no. 15 (July 9, 2018): 3067–81. http://dx.doi.org/10.1177/1045389x18783070.

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This article presents a novel, passive approach to creating variable actuator recruitment in bundles of fluidic artificial muscles. The passive recruitment control approach is inspired by the functionality of mammalian muscle tissues, in which a single activation signal from the nervous system sequentially triggers contraction of progressively larger actuation elements until the required force is generated. Biologically, this behavior is encoded by differences in electrical resistance properties between smaller and larger muscle-fiber groups. The approach presented here produces analogous behavior using a uniform applied pressure to all fluidic artificial muscles while creating differential pressure responses and threshold pressures among the fluidic artificial muscles via tailored bladder elasticity parameters. A model for using elastic bladder stiffness to control an artificial muscle bundle with a single valve is explored and used to compare a bundle of fluidic artificial muscles with both low and high threshold pressure units to a single fluidic artificial muscle of equivalent displacement and force capability. The results of this analysis indicate the efficacy of using this control method; it is advantageous in cases where a wide range of displacements and forces are necessary and can increase efficiency when the system primarily operates in a low-force regime but requires occasional bursts of high-force capability.

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21

Takosoglu, Jakub. "Static characteristics of the new artificial pneumatic muscle." EPJ Web of Conferences 269 (2022): 01061. http://dx.doi.org/10.1051/epjconf/202226901061.

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The pneumatic artificial muscles are used as driving elements of mobile, anthropomorphic, bionic and humanoid robots as well as rehabilitation and physiotherapeutic manipulators. The PAMs are also increasingly used for the automation of industrial processes. The article presents test stands and methods used to determine the static, isobaric, isotonic and isometric characteristics of the new pneumatic artificial muscles. The muscles have been designed and developed at the Kielce University of Technology. Comparative tests of technical parameters of the designed muscle with the muscles available on the market have been performed.

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22

Versluys, Rino, Kristel Deckers, Michaël Van Damme, Ronald Van Ham, Gunther Steenackers, Patrick Guillaume, and Dirk Lefeber. "A Study on the Bandwidth Characteristics of Pleated Pneumatic Artificial Muscles." Applied Bionics and Biomechanics 6, no. 1 (2009): 3–9. http://dx.doi.org/10.1155/2009/298125.

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Pleated pneumatic artificial muscles have interesting properties that can be of considerable significance in robotics and automation. With a view to the potential use of pleated pneumatic artificial muscles as actuators for a fatigue test bench (high forces and small displacements), the bandwidth characteristics of a muscle-valve system were investigated. Bandwidth is commonly used for linear systems, as the Bode plot is independent of the amplitude of the input signal. However, due to the non-linear behaviour of pleated pneumatic artificial muscles, the system's gain becomes dependent on the amplitude of the input sine wave. As a result, only one Bode plot is insufficient to clearly describe or identify a non-linear system. In this study, the bandwidth of a muscle-valve system was assessed from two perspectives: a varying amplitude and a varying offset of the input sine wave. A brief introduction to pneumatic artificial muscles is given. The concept of pleated pneumatic artificial muscles is explained. Furthermore, the different test methods and experimental results are presented.

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23

Shahinpoor, Mohsen. "Chitosan/IPMC Artificial Muscles." Advances in Science and Technology 79 (September 2012): 32–40. http://dx.doi.org/10.4028/www.scientific.net/ast.79.32.

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This presentation discusses how biopolymers such as chitosan and ionic polymer metal composites (IPMCs) can be combined by intercalation and co-polymerization to form a new nanocomposite with actuation, energy harvesting and sensing capabilities and yet have medical healing and diagnostics capabilities. Described are chitosan and ionic polymeric networks containing conjugated ions that can be redistributed by an imposed electric field and consequently act as distributed nanosensors, nanoactuators and artificial muscles. The presentation briefly discusses the manufacturing methodologies and the fundamental properties and characteristics of such chitosan/ionic polymers as distributed nanosensors, nanoactuators and artificial muscles. It will further include descriptions of the basic materials' typical molecular structures. An ionic model based on charge dynamics of the underlying sensing and actuation mechanisms is also presented. Intercalation of chitosan biopolymer and ionic polymers such as perfluorinated sufonic ionomers and subsequent chemical plating of them with a noble metal by a REDOX operation is also reported and the properties of the new product are briefly discussed.

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24

Aliseichik, A. P., D. A. Gribkov, A. R. Efimov, I. A. Orlov, V. E. Pavlovsky, A. V. Podoprosvetov, and I. V. Khaidukova. "Artificial Muscles (Review Article)." Journal of Computer and Systems Sciences International 61, no. 2 (April 2022): 270–93. http://dx.doi.org/10.1134/s1064230722010026.

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25

Mu, Jiuke, Mônica Jung de Andrade, Shaoli Fang, Xuemin Wang, Enlai Gao, Na Li, Shi Hyeong Kim, et al. "Sheath-run artificial muscles." Science 365, no. 6449 (July 12, 2019): 150–55. http://dx.doi.org/10.1126/science.aaw2403.

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26

Schulz, M. "Speeding Up Artificial Muscles." Science 338, no. 6109 (November 15, 2012): 893–94. http://dx.doi.org/10.1126/science.1230428.

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27

Ebron, V. H. "Fuel-Powered Artificial Muscles." Science 311, no. 5767 (March 17, 2006): 1580–83. http://dx.doi.org/10.1126/science.1120182.

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28

Marks, Paul. "Nanotubes strengthen artificial muscles." New Scientist 195, no. 2612 (July 2007): 28. http://dx.doi.org/10.1016/s0262-4079(07)61772-2.

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29

Liu, Yi, Amar H. Flood, Paul A. Bonvallet, Scott A. Vignon, Brian H. Northrop, Hsian-Rong Tseng, Jan O. Jeppesen, et al. "Linear Artificial Molecular Muscles." Journal of the American Chemical Society 127, no. 27 (July 13, 2005): 9745–59. http://dx.doi.org/10.1021/ja051088p.

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30

Baughman, R. H. "Conducting polymer artificial muscles." Synthetic Metals 78, no. 3 (April 1996): 339–53. http://dx.doi.org/10.1016/0379-6779(96)80158-5.

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31

Zhang, Xiaotian, and Girish Krishnan. "A nested pneumatic muscle arrangement for amplified stroke and force behavior." Journal of Intelligent Material Systems and Structures 29, no. 6 (September 22, 2017): 1139–56. http://dx.doi.org/10.1177/1045389x17730920.

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This article presents a compact nested architecture to amplify the displacement and forces of pneumatic artificial muscles for potential use in human assistive devices and other robotic applications. The nested architecture consists of several levels in series, and each level is made up of contracting pneumatic muscles, passive force transfer members, and additively manufactured interconnects. The stroke obtained from the nested pneumatic artificial muscle architecture is not always beneficial and is limited by the length-dependent behavior of pneumatic artificial muscles and other practical manufacturing constraints such as the size of the interconnects. Thus, this article studies the effect of the pneumatic artificial muscle length on its stroke using a modified constrained volume maximization formulation, which predicts the actual shape of the deformed pneumatic artificial muscle, and models additional stiffness due to membrane bending. Using this formulation, a framework is presented to optimally design the number of nested levels and individual actuators in each level to obtain a required stroke. Such a system is designed to actuate the human elbow by an angle of 80°, where almost 40% contraction is obtained using custom-manufactured pneumatic artificial muscles inherently capable of contracting upto 17% of its length. The framework can be used to amplify the stroke and forces of any pneumatic artificial muscle actuator and adapt it to different application requirements.

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32

Haghshenas-Jaryani, Mahdi. "Dynamics and Computed-Muscle-Force Control of a Planar Muscle-Driven Snake Robot." Actuators 11, no. 7 (July 16, 2022): 194. http://dx.doi.org/10.3390/act11070194.

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This paper presents the dynamic formulation of an artificial-muscle-driven and computed-muscle–force control for the planar locomotion of a snake robot. The snake robot uses a series of antagonistic pneumatic artificial muscles, assembled at the joints, to generate the locomotion. Kinematics of the artificial-muscle-driven robot in the joint and Cartesian spaces was derived with respect to the muscles’ motion. The Lagrangian mechanics was employed for the formulation of the dynamic model of the robot and deriving the equations of motion. A model-based computed-muscle-force control was designed to track the desired paths/trajectories in Cartesian space. The feedback linearization method based on a change of coordinate was utilized to determine an equivalent linear (input-to-state) system. Then, a full state feedback control law was designed, which satisfies the stability and tracking problems. The performance of the dynamic model and the controller were successfully demonstrated in simulation studies for tracking a circle-shape path and a square-shape path with a constant linear velocity while generating the lateral undulation gait. The results indicate a low magnitude of tracking errors where the controlled muscle force are bounded to the actual pneumatic artificial muscle’s limitations.

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33

Mitchell, Kellen, Lily Raymond, and Yifei Jin. "Material Extrusion Advanced Manufacturing of Helical Artificial Muscles from Shape Memory Polymer." Machines 10, no. 7 (June 22, 2022): 497. http://dx.doi.org/10.3390/machines10070497.

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Rehabilitation and mobility assistance using robotic orthosis or exoskeletons have shown potential in aiding those with musculoskeletal disorders. Artificial muscles are the main component used to drive robotics and bio-assistive devices. However, current fabrication methods to produce artificial muscles are technically challenging and laborious for medical staff at clinics and hospitals. This study aims to investigate a printhead system for material extrusion of helical polymer artificial muscles. In the proposed system, an internal fluted mandrel within the printhead and a temperature control module were used simultaneously to solidify and stereotype polymer filaments prior to extrusion from the printhead with a helical shape. Numerical simulation was applied to determine the optimal printhead design, as well as analyze the coupling effects and sensitivity of the printhead geometries on artificial muscle fabrication. Based on the simulation analysis, the printhead system was designed, fabricated, and operated to extrude helical filaments using polylactic acid. The diameter, thickness, and pitch of the extruded filaments were compared to the corresponding geometries of the mandrel to validate the fabrication accuracy. Finally, a printed filament was programmed and actuated to test its functionality as a helical artificial muscle. The proposed printhead system not only allows for the stationary extrusion of helical artificial muscles but is also compatible with commercial 3D printers to freeform print helical artificial muscle groups in the future.

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34

Noritsugu, Toshiro, Masahiro Takaiwa, and Daisuke Sasaki. "Development of Power Assist Wear Using Pneumatic Rubber Artificial Muscles." Journal of Robotics and Mechatronics 21, no. 5 (October 20, 2009): 607–13. http://dx.doi.org/10.20965/jrm.2009.p0607.

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In the future, when the average age of the members of society becomes advanced, an innovative technology to assist the activities of daily living of elderly and disabled people and to assist in the heavy work in nursing will be desired. To develop such a technology, an actuator that is safe and user-friendly is required. It should be small, lightweight, and sufficiently soft. Such an actuator is available in artificial muscle made of pneumatic rubber. We have developed some types of pneumatic rubber artificial muscles and applied them to wearable power assist devices. A wearable power assist device is fitted to the human body to assist the power of muscles that support the activities of daily living, rehabilitation, training, and so on. In this paper, some types of pneumatic rubber artificial muscles developed and manufactured in our laboratory are presented. Furthermore, two kinds of wearable power assist devices driven by the rubber artificial muscles are described. Finally, some evaluations clarify the effectiveness of pneumatic rubber artificial muscle for innovative human assistance technologies.

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Schmitt, S., M. Günther, T. Rupp, A. Bayer, and D. Häufle. "Theoretical Hill-Type Muscle and Stability: Numerical Model and Application." Computational and Mathematical Methods in Medicine 2013 (2013): 1–7. http://dx.doi.org/10.1155/2013/570878.

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The construction of artificial muscles is one of the most challenging developments in today’s biomedical science. The application of artificial muscles is focused both on the construction of orthotics and prosthetics for rehabilitation and prevention purposes and on building humanoid walking machines for robotics research. Research in biomechanics tries to explain the functioning and design of real biological muscles and therefore lays the fundament for the development of functional artificial muscles. Recently, the hyperbolic Hill-type force-velocity relation was derived from simple mechanical components. In this contribution, this theoretical yet biomechanical model is transferred to a numerical model and applied for presenting a proof-of-concept of a functional artificial muscle. Additionally, this validated theoretical model is used to determine force-velocity relations of different animal species that are based on the literature data from biological experiments. Moreover, it is shown that an antagonistic muscle actuator can help in stabilising a single inverted pendulum model in favour of a control approach using a linear torque generator.

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Zhang, Zeng Meng, Yong Jun Gong, and Jiao Yi Hou. "Drive Characteristic Analysis and Test System Design for Water Hydraulic Artificial Muscle." Applied Mechanics and Materials 511-512 (February 2014): 737–42. http://dx.doi.org/10.4028/www.scientific.net/amm.511-512.737.

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Performance tests and drive experiments play an important role in researches on water hydraulic artificial muscles. A test system is designed to analyze the drive characteristic of the developed water hydraulic artificial muscle. Through simulation getting main parameters, the hydraulic circuit to regulate the pressure of the water hydraulic artificial muscle and a proportional control loading system are built. The pressure control and drawing force regulation in the loading system for muscles with different diameter and length are provided by the designed test system. The experimental results show that the muscle pressure can be adjusted stably and the contraction of the tested muscle can be measured under different preset drawing forces. The test system for the water hydraulic artificial muscle is useful in the researches on drive characteristic and control system of the water hydraulic artificial muscle.

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Kojima, Akihiro, Manabu Okui, and Taro Nakamura. "Development of Soft Pneumatic Actuators Using High-Strain Elastic Materials with Stress Anisotropy of Short Fibers." Proceedings 64, no. 1 (November 22, 2020): 41. http://dx.doi.org/10.3390/iecat2020-08526.

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In recent years, soft robots, such as those with high human affinity and those that excellently imitate the movements of natural creatures, have gained considerable attention. In soft robots, structurally flexible soft actuators need to be used, not conventional motors or hydraulic/pneumatic cylinders. Various types of soft actuators have been developed depending on the driving principle. A pneumatic rubber artificial muscle is a kind of soft actuator that acquires power through injection of a working fluid, such as air, into an elastic structure, such as rubber. In this study, the authors developed an actuator, namely, the straight-fiber-type artificial muscle, which exhibits excellent contraction characteristics. This artificial muscle consists of a rubber tube that contains reinforcing fibers arranged in the axial direction. When air pressure is applied to the rubber tube, the artificial muscle expands only in the radial direction and contracts in the axial direction due to the restraining effect of the reinforcing fiber. While this artificial muscle exhibits excellent contraction properties, it has some drawbacks. One is the difficulty in enclosing the reinforced fibers that have accumulated in the rubber tube, making this artificial muscle difficult to manufacture. In this study, we investigated short-fiber-reinforced artificial muscles that can be easily manufactured. First, a short-fiber-reinforced rubber was prepared, and anisotropy was evaluated via a tensile test. Then, the short-fiber-reinforced artificial muscles were prepared, and their contractions rates were evaluated. The results confirmed that a short-fiber-reinforced rubber can be useful for the manufacture of artificial muscles.

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Piteľ, Ján, and Mária Tóthová. "Operating Characteristics of Antagonistic Actuator with Pneumatic Artificial Muscles." Applied Mechanics and Materials 616 (August 2014): 101–9. http://dx.doi.org/10.4028/www.scientific.net/amm.616.101.

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Nonconventional actuators based on the pneumatic artificial muscles can be used in manipulators mainly for their lower energy consumption and higher performance at lower weight. In the paper there are compared the dynamic operating characteristics of the antagonistic actuator with the pneumatic artificial muscles obtained by simulation of the different muscle models in Matlab / Simulink environment with the real measured data on the experimental actuator. The results of these simulations and measurements confirmed highly nonlinear operating characteristics of such actuator and also right approach to the design of the actuator model using different muscle models.

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Ferris, Daniel P., Joseph M. Czerniecki, and Blake Hannaford. "An Ankle-Foot Orthosis Powered by Artificial Pneumatic Muscles." Journal of Applied Biomechanics 21, no. 2 (May 2005): 189–97. http://dx.doi.org/10.1123/jab.21.2.189.

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We developed a pneumatically powered orthosis for the human ankle joint. The orthosis consisted of a carbon fiber shell, hinge joint, and two artificial pneumatic muscles. One artificial pneumatic muscle provided plantar flexion torque and the second one provided dorsiflexion torque. Computer software adjusted air pressure in each artificial muscle independently so that artificial muscle force was proportional to rectified low-pass-filtered electromyography (EMG) amplitude (i.e., proportional myoelectric control). Tibialis anterior EMG activated the artificial dorsiflexor and soleus EMG activated the artificial plantar flexor. We collected joint kinematic and artificial muscle force data as one healthy participant walked on a treadmill with the orthosis. Peak plantar flexor torque provided by the orthosis was 70 Nm, and peak dorsiflexor torque provided by the orthosis was 38 Nm. The orthosis could be useful for basic science studies on human locomotion or possibly for gait rehabilitation after neurological injury.

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Chipka, Jordan, Michael A. Meller, Alexander Volkov, Matthew Bryant, and Ephrahim Garcia. "Linear dynamometer testing of hydraulic artificial muscles with variable recruitment." Journal of Intelligent Material Systems and Structures 28, no. 15 (January 12, 2017): 2051–63. http://dx.doi.org/10.1177/1045389x16682845.

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A novel, meso-scale hydraulic actuator characterization test platform, termed a linear hydraulic actuator characterization device, is demonstrated and characterized in this study. The linear hydraulic actuator characterization device is applied to testing McKibben artificial muscles and is used to show the energy savings due to the implementation of a variable recruitment muscle control scheme. The linear hydraulic actuator characterization device is a hydraulic linear dynamometer that can be controlled to enable a desired force and stroke profile to be prescribed to the artificial muscles. The linear hydraulic actuator characterization device consists of a drive actuator that is connected in series with the test muscles. Thus, the drive cylinder can act as a controlled disturbance to the artificial muscles to simulate various loading conditions. With the ability to control the loading conditions of the artificial muscles, the linear hydraulic actuator characterization device offers the ability to experimentally validate the muscles’ performance and energetic characteristics. For instance, the McKibben muscles’ quasi-static force–stroke capabilities, as well as the power savings of a variable recruitment control scheme, are measured and presented in this work. Moreover, the development and fabrication of this highly versatile characterization test platform for hydraulic actuators is described in this article, and the characterization test results and efficiency study results are presented.

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Díaz-Zagal, S., C. Gutiérrez-Estrada, E. Rendón-Lara, I. Abundez-Barrera, and J. H. Pacheco-Sánchez. "Pneumatic Artificial Mini-Muscles Conception: Medical Robotics Applications." Applied Mechanics and Materials 15 (August 2009): 49–54. http://dx.doi.org/10.4028/www.scientific.net/amm.15.49.

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Actually, the pneumatic artificial muscles of McKibben type [1] show a great functional similarity with the skeletal muscle. A detailed analysis of the system has been performed to better characterize this similarity with the analogous dynamic behavior of the organic system. Such analysis has shown that the McKibben-type artificial muscle can be adapted to the Hill fundamental model [2]. Research regarding pneumatic artificial muscle with application to robotics has recently focused on mini-actuators for miniaturized robotics systems. This is specially true in the area of medical robotics, but an extension of miniactuator technology to other applications may be feasible, such as the development of artificial fine-motion limbs (hands and/or fingers). The present work details the artificial muscle miniaturization process developed in the LESIA laboratory, their behavior, their position and force control characteristics, as well as the possible applications of this technology to medical robotics.

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Li, Linpeng, and Hongzhi Wang. "Unipolar-stroke Electrochemical Artificial Muscles." Advanced Fiber Materials 3, no. 3 (February 26, 2021): 147–48. http://dx.doi.org/10.1007/s42765-021-00071-1.

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Stokel-Walker, Chris. "Robot hand contains artificial muscles." New Scientist 255, no. 3398 (August 2022): 24. http://dx.doi.org/10.1016/s0262-4079(22)01388-4.

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Foroughi, J., G. M. Spinks, G. G. Wallace, J. Oh, M. E. Kozlov, S. Fang, T. Mirfakhrai, et al. "Torsional Carbon Nanotube Artificial Muscles." Science 334, no. 6055 (October 13, 2011): 494–97. http://dx.doi.org/10.1126/science.1211220.

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Anderson, Iain A., Ioannis A. Ieropoulos, Thomas McKay, Benjamin O'Brien, and Chris Melhuish. "Power for Robotic Artificial Muscles." IEEE/ASME Transactions on Mechatronics 16, no. 1 (February 2011): 107–11. http://dx.doi.org/10.1109/tmech.2010.2090894.

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Bradley, David. "Artificial muscles know their onions." Materials Today 18, no. 7 (September 2015): 359–60. http://dx.doi.org/10.1016/j.mattod.2015.06.006.

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Davies, Martin J. "Nanotube ribbons and artificial muscles." Trends in Biotechnology 19, no. 2 (February 2001): 42. http://dx.doi.org/10.1016/s0167-7799(00)01566-3.

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Caldwell, D. G., and P. M. Taylor. "Artificial Muscles as Robotic Actuators." IFAC Proceedings Volumes 21, no. 16 (October 1988): 401–6. http://dx.doi.org/10.1016/s1474-6670(17)54643-1.

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Otero, T. F., J. Rodriguez, E. Angulo, and C. Santamaria. "Artificial muscles from bilayer structures." Synthetic Metals 57, no. 1 (April 1993): 3713–17. http://dx.doi.org/10.1016/0379-6779(93)90502-n.

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Wang, Yuzhe, and Jian Zhu. "Artificial muscles for jaw movements." Extreme Mechanics Letters 6 (March 2016): 88–95. http://dx.doi.org/10.1016/j.eml.2015.12.007.

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