Pleated pneumatic artificial muscles: actuators for automation and robotics

@article{Daerden2001PleatedPA,
  title={Pleated pneumatic artificial muscles: actuators for automation and robotics},
  author={Frank Daerden and Dirk Lefeber and Bj{\"o}rn Verrelst and Ronald Van Ham},
  journal={2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556)},
  year={2001},
  volume={2},
  pages={738-743 vol.2}
}
  • F. Daerden, D. Lefeber, R. Van Ham
  • Published 8 July 2001
  • Engineering
  • 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556)
Reports on a type of pneumatic artificial muscles (PAMs) that was developed at the Vrije Universiteit Brussel, Department of Mechanical Engineering. Its distinguishing feature is its pleated design. Due to this, it has a very high contraction force and an equally high travel. The weight of these pleated PAMs is very low: a muscle of only 60 gr can pull up to 3500 N and contract by 42%. Furthermore, dry friction and associated hysteresis, typical of many other designs, is avoided by the folding… 

The Pneumatic Biped “Lucy” Actuated with Pleated Pneumatic Artificial Muscles

This paper reports on the bipedal robot Lucy which is actuated by pleated pneumatic artificial muscles which is very suitable to be used in machines which move by means of legs because of its high power to weight ratio and adaptable passive behavior.

Design of a Biped Actuated by Pleated Pneumatic Artificial Muscles

This paper presents the design of a biped actuated by Pleated Pneumatic Artificial Muscles. These actuators have a very high power to weight ratio and an inherent adaptable compliance. The mechanical

Design and control of a manipulator arm driven by pneumatic muscle actuators

  • Z. SitumS. Herceg
  • Engineering
    2008 16th Mediterranean Conference on Control and Automation
  • 2008
It seems that the pneumatic artificial muscles (PAMs) have a very great potential in industrial applications for the actuation of new types of robots and manipulators. Their properties such as

The vision analysis of a McKibben pneumatic artificial muscle

  • W. Lepiarz
  • Engineering, Medicine
    Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)
  • 2014
This study presents an algorithm for vision measurement of an operating pneumatic artificial muscle and the analysis of a vision system as an alternative tool for measuring characteristics of pNeumatic artificial muscles in real applications.

Pressure Control with On-Off Valves of Pleated Pneumatic Artificial Muscles in a Modular One-Dimensional Rotational Joint

The power to weight ratio of the actuators is an important design factor for running robots. In this regard pleated pneumatic artificial muscles are excellent actuators. Another advantage is that

Control of a joint actuated by two Pneumatic Artificial Muscles with fast switching ON-OFF Valves

The power to weight ratio of the actuators is an important design factor for running robots. In this regard pleated pneumatic artificial muscles are excellent actuators. Another advantage is that

Pneumatic Air Muscle and Pneumatic sources for light weight autonomous robots

A new approach to both the PAM and air valves is presented and a totally new way of generating pneumatic pressure is presented based on heat engine methods, enabling the design of compact, lightweight and dynamic robots.

Application of stretchable strain sensor for pneumatic artificial muscle

This paper proposes a stretchable strain sensor that has the characteristics of stretchability, length measurement, and lightweight, and can directly measure the contraction of the artificial muscle by attaching the sensor on the muscle.

Evaluation of pneumatic cylinder actuators for hand prostheses

Improvements to the cylinder design and valve system are recommended, in order to develop the potential of pneumatic cylinder actuators in modern multifunctional hand prostheses.

Bioinspired pneumatic muscle spring units mimicking the human motion apparatus: benefits for passive motion range and joint stiffness variation in antagonistic setups

Inspired by nature, Klute investigated a PAM with a serial elastic element and a damper to mimic the muscle tendon unit of the biological system and offers calculable AAS models and shows design possibilities in this contribution.
...

References

SHOWING 1-9 OF 9 REFERENCES

Introducing Pleated Pneumatic Artificial Muscles for the Actuation of Legged Robots : a One-dimensional Set-up

This paper reports on the use of a new actuator, called Pleated Pneumatic Artificial Muscle, in a one dimensional set-up, it is build as a footless leg with only the knee powered by a pair of Pleated

Control of pneumatic muscle actuators

Problems with the control and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, and simplicity are factors that

Static and dynamic characteristics of McKibben pneumatic artificial muscles

  • C. ChouB. Hannaford
  • Engineering
    Proceedings of the 1994 IEEE International Conference on Robotics and Automation
  • 1994
The authors report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models of McKibben artificial muscle pneumatic actuator.

Measurement and modeling of McKibben pneumatic artificial muscles

Mechanical testing the modeling results for the McKibben artificial muscle pneumatic actuator, which contains an expanding tube surrounded by braided cords, and a linearized model of these properties for three different models is derived.

Measurement and modeling of McKibben pneumatic artificial muscle

  • IEEE Transactions on Robotics and Automation,
  • 1996

Conception and Realization of Pleated Pneumatic Artificial Muscles and their Use as Compliant Actuation Elements

  • PhD thesis, Vrije Universiteit Brussel, Belgium,
  • 1999

Natural compliance of robot– arms based on McKibben artificial muscle actuators

  • European Robotics and Intelligent Systems Conference,
  • 1994

trol of pneumatic muscle actuators ”

  • 1995