Mathematical Model for Pressure–Deformation Relationship of Miniaturized McKibben Actuators

  • K. P. Ashwin
  • Ashitava GhosalEmail author
Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


A McKibben actuator/Pneumatic Artificial Muscle (PAM) is a soft actuator which has great potential in the field of bioinspired robotics. Miniaturized versions of PAMs or MPAMs of less than 1.5 mm diameter are ideal actuators for developing surgical devices due to their compliance and high power-to-weight ratio. Accurate mathematical model to represent the mechanics of PAM is an ongoing research. This paper develops a mathematical model which relates the input pressure to end-point deformation of a fabricated MPAM without external loading. The developed theoretical model is validated against experimental data for MPAM of lengths 60 and 70 mm. The model predicts the deformation of MPAM with standard error of less than 10%. The model is also able to predict the locking angle of \(54.7^\circ \) at higher pressures which is a distinct characteristic of McKibben actuators.


Miniaturized McKibben actuators Pneumatic muscles Actuated endoscopic instruments 



This work was funded in part by the Robert Bosch Center for Cyber Physical Systems (RBCCPS) at the Indian Institute of Science, Bangalore.


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© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.Indian Institute of ScienceBengaluruIndia

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