On the Control and Properties of Supercoiled Polymer Artificial Muscles

  title={On the Control and Properties of Supercoiled Polymer Artificial Muscles},
  author={Michael C. Yip and Gx00FCnter Niemeyer},
  journal={IEEE Transactions on Robotics},
Robotics have long sought an actuation technology comparable to or as capable as biological muscle tissue. Natural muscles exhibit a high power-to-weight ratio, inherent compliance and damping, fast action, and a high dynamic range. They also produce joint displacements and forces without the need for gearing or additional hardware. Recently, supercoiled commercially available polymer threads (sewing thread or nylon fishing lines) have been used to create significant mechanical power in a… CONTINUE READING


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