0
TECHNICAL BRIEFS

Accounting for Elastic Energy Storage in McKibben Artificial Muscle Actuators

[+] Author and Article Information
Glenn K. Klute

Department of Bioengineering, University of Washington, Seattle, WA 98195-2500e-mail: gklute@u.washington.edu

Blake Hannaford

Department of Electrical Engineering, University of Washington, Seattle, WA 98195-2500 e-mail: blake@ee.washington.edu

J. Dyn. Sys., Meas., Control 122(2), 386-388 (Dec 15, 1998) (3 pages) doi:10.1115/1.482478 History: Received December 15, 1998
Copyright © 2000 by ASME
Your Session has timed out. Please sign back in to continue.

References

Nickel,  V. L., Perry,  J., and Garrett,  A. L., 1963, “Development of Useful Function in the Severely Paralyzed Hand,” J. Bone Joint Surg. Am., 45A, No. 5, pp. 933–952.
Gaylord, R. H., 1958, “Fluid Actuated Motor System and Stroking Device,” United States Patent 2,844,126.
Schulte, H. F., 1961, “The Characteristics of the McKibben Artificial Muscle,” The Application of External Power in Prosthetics and Orthotics, Publication 874, National Academy of Sciences—National Research Council, Washington DC, Appendix H, pp. 94–115.
Tondu, B., Boitier, V., and Lopez, P., 1994, “Naturally Compliant Robot-Arms Actuated by McKibben Artificial Muscles,” Proceedings, 1994 IEEE International Conference on Systems, Man, and Cybernetics, San Antonio, TX, Vol. 3, pp. 2635–2640.
Paynter, H. M., 1996, “Thermodynamic Treatment of Tug-&-Twist Technology: Part 1. Thermodynamic Tugger Design,” Stelson, K. and Oba, F., eds, Proceedings, Japan-USA Symposium on Flexible Automation, Boston, MA, pp. 111–117.
Chou,  C. P., and Hannaford,  B., 1996, “Measurement and Modeling of Artificial Muscles,” IEEE Trans. Rob. Autom., 12, pp. 90–102.
Treloar, L. R. G., 1958, The Physics of Rubber Elasticity, Oxford University Press, London.
Klute, G. K. and Hannaford, B., 1998, “Fatigue characteristics of McKibben artificial muscle actuators,” Proceedings, IEEE/RSJ 1998 International Conference on Intelligent Robotic Systems (IROS ’98), Victoria BC, Canada, Vol. 3, pp. 1776–1781.

Figures

Grahic Jump Location
McKibben actuators are fabricated from two principle components: an inflatable inner bladder made of a rubber material and an exterior braided shell wound in a double helix. At ambient pressure, the actuator is at its resting length (Fig. 1(a)). As pressure increases, the actuator contracts proportionally until it reaches its maximally contracted state at maximum pressure (Fig. 1(b)). Both the thread length (B) and the number of turns an individual thread makes about the diameter (N) are constant. The amount of contraction is described by the actuator’s longitudinal stretch ratio given by λ1=Li/Lo where L is the actuator’s length, subscript i refers to the instantaneous dimension, and the subscript o refers to the original, resting state dimension.
Grahic Jump Location
Model predictions versus experimental results are presented for the largest of the three actuators tested (nominal braid diameter of 1-1/4). Fgaylord refers to the model published by Gaylord 2 which does not account for bladder geometry or material. Fmr refers to our model which incorporates both bladder geometry and Mooney–Rivlin material properties.

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In