Abstract
Pneumatic muscles have been used for a number of years as actuators in robotic systems, usually for those that mimic human actions. They are most commonly used in systems designed to aid physically handicapped people. Air muscles consist of an inflatable tube, usually neoprene rubber that is constrained by a nylon mesh. When compressed air is passed into the muscle, which is blocked at one end, the tube inflates, but the action of the enclosing mesh forces the tube to shorten. The resultant force is sued as a linear actuator.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bridgestone Corp. (1987) Tokyo, Japan, Soft Arm ACFAS Robot System
D.G. Caldwell, G.A. Medrano-Cerda and M.J. Goodwin (1995) Control of Pneumatic Muscle Actuators. IEEE Control Systems Journal, vol. 15, No.1, pp. 40–48
P. Chou and B. Hannaford (1996) Measurement and Modeling of McKibben Pneumatic Artificial Muscles. IEEE Tran On Robotics and Automation, vol. 12, No. 1
E.P.W. (1984) Rubber muscle take robotics one step further. Rubber Develop, vol. 37, No. 4, pp. 117–119, 1984
M. Guihard and P.Gorce (1999) Dynamic control of a artificial muscle arm, Proc. IEEE Conf. on systems, Man, and Cybernetics, vol. 4 , pp. 813–818
G.B. Immega (1986) ROMAC muscle powered robots. Proc. RI-SME Conf. Robotics Research, Scottsdale, AZ, pp. 112–117
M. Matsushita (1968) Synthesis of Rubber Artificial Muscles. J. Soc.Instrum. Contr. Eng., vol. 7, no 12, pp.110–116
V.L. Nicket, M.D.J. Perry and A.L. Garret (1963) Development of Useful Function in the Severely Paralysed Hand. J Bone Joint Surgery, vol. 45a, no 5, pp. 933–952
R.T. Pack, J.L. Christopher and K. Kawamura (1997) A Rubbertuator-based structure-climbing inspection robot. Proc. IEEE Intl. Conf. On Robotics and Automation, pp. 1869–1874
H.F. Schulte, (1961) The characteristics of the McKibben artificial muscle. The application of external power in prosthetics and orthotics, Appendix H, Publication 87, pp. 94–115
Shadow Robot Group, London, UK, (1987) The shadow Air Muscle, http://www.shadow.org.uk
Y. Tanaka and T. Okada (1992) Fundamental study of artificial muscle made of rubber. Trans, Jpn. Soc. Mechan Eng. ©, v58–545, pp 217–224
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Ku, K., Bradbeer, R. (2008). Modelling Pneumatic Muscles as Hydraulic Muscles for Use as an Underwater Actuator. In: Billingsley, J., Bradbeer, R. (eds) Mechatronics and Machine Vision in Practice. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74027-8_17
Download citation
DOI: https://doi.org/10.1007/978-3-540-74027-8_17
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74026-1
Online ISBN: 978-3-540-74027-8
eBook Packages: EngineeringEngineering (R0)