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A Review and Comparison of Linear Pneumatic Artificial Muscles

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International Journal of Precision Engineering and Manufacturing-Green Technology Aims and scope Submit manuscript

Abstract

For mechanical systems where a human–machine interface or interaction is necessary, it is important to consider physical safety. In cases where robots and humans must coexist, these robots must have actuation that is inherently compliant to absorb physical impacts. However, these compliant actuators must possess high performance that is comparable with electro-mechanical actuators. Pneumatic artificial muscles (PAMs) are biologically inspired actuators that possess inherent compliance and are a prime candidate for implementation in future robotic applications. This article reviews several designs of contractile PAMs made from various materials and where the actuator may need to be pressurized, depressurized, or vacuumed to produce mechanical work. Although these PAMs are all physically compliant due to the inherent compressibility of air, their performance varies significantly from one design to the other such that it may be hard to identify a suitable actuator for a given application. This paper covers a broad range of contractile PAM designs and compares their performance based on a few metrics in order to help users determine which actuators have the most potential for future implementations. The paper also identifies a few areas where significant challenges will have to be solved for these new actuators to help pave the way for a world where robots can operate in close proximity to humans.

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Fig. 1

(Copyright IOP Science), b bundle of thin McKibben actuator [13] (Copyright ScienceDirect), c pleated pneumatic artificial muscles [20] (Copyright IOP Science), d elastomeric straight fiber actuator [22] (Copyright Willey), e flat artificial muscle [23] (Copyright IOP Science), f Cavatappi artificial muscles [24] (Copyright AAAS), g winded pneumatic artificial muscle [25] (Open access), h inverse pneumatic artificial muscle [27] (Copyright IEEE), i pneumatic artificial muscle using the buckling of elastomeric beams [28] (Copyright Wiley), j pneumatic artificial muscle using the tilting of elastomeric beams [29] (Copyright Wiley), and k bellow-like actuator [31] (Open access)

Fig. 2

(Copyright Taylor & Francais), b pouch motors [34], c paired pouch motor [40] (Copyright Wiley), d gusseted pouch motors [42], e series pneumatic artificial muscles [46] (Credit Hawkes Lab, UCSB), f fabric PAM [48] (Credit Nicholas Naclerio, Hawkes Lab, UCSB), g actuator using a transversal configuration to produce a longitudinal contraction [49] (Open access), h origami-based vacuum pneumatic artificial muscle [52], i armor-based stable force pneumatic artificial muscle [53], j vacuum actuator using a spring as support [55] (Copyright ScienceDirect), and k an actuator using an hyperbaric chamber to simultaneously use positive and negative pressures [57]

Fig. 3

(Copyright AAAS), d McKibben actuator using a helical conductive fiber for sensing [70] (Copyright ScienceDirect), e McKibben actuator using a conductive knit cover [71] (Copyright IEEE), f McKibben actuator using optical sensors [78] (Copyright IEEE), g actuator using snapthrough behavior for rapid motion [91] (Open access), h actuator made from self-healing polymer [97] (Copyright ScienceDirect), i actuator using liquid-to-gas phase transition for pumpless actuation [98] (Open access), and j magnetically induced heating of actuator using liquid-to-gas phase transition for untethered actuation [101] (Copyright AAAS)

Fig. 4

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Data availability

All data is available from the corresponding author upon reasonable request.

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Acknowledgements

This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (Ministry of Science, ICT & Future Planning) (No. 2020R1A4A1018227 and No. 2021R1A2C4001792).

Funding

This study was funded by National Research Foundation of Korea (NRF), 2020R1A4A1018227, Hugo Rodrigue, 2021R1A2C4001792, Hugo Rodrigue.

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  1. School of Mechanical Engineering, Sungkyunkwan University, Suwon, 16419, Republic of Korea

    Babar Jamil, Namsoo Oh, Jin-Gyu Lee, Haneol Lee & Hugo Rodrigue

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  1. Babar Jamil
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  2. Namsoo Oh
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Correspondence to Hugo Rodrigue.

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Jamil, B., Oh, N., Lee, JG. et al. A Review and Comparison of Linear Pneumatic Artificial Muscles. Int. J. of Precis. Eng. and Manuf.-Green Tech. 11, 277–289 (2024). https://doi.org/10.1007/s40684-023-00531-6

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