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Proceedings Paper

Control performance of pneumatic artificial muscle
Author(s): Norihiko Saga; Seiji Chonan
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Paper Abstract

The robot in the future will be lightened and, in addition, the complex tasks will be done by the consumption of less energy. To achieve this, the development of an artificial muscle actuator which is as soft as a human-being becomes indispensable. At present, the artificial muscle actuator used is the McKibben type, but the heat and mechanical loss of this actuator are large because of the friction caused by the expansion and contraction of the sleeve. Therefore, we developed the artificial muscle tube where the Carbon fiber of the high intensity had been built into the silicon tube. In this report, the results of the examined the mechanical property of silicone rubber is reported, and the shrinking characteristics, response characteristics, and control performance as a pneumatic actuator are reported.

Paper Details

Date Published: 8 January 2007
PDF: 7 pages
Proc. SPIE 6414, Smart Structures, Devices, and Systems III, 641423 (8 January 2007); doi: 10.1117/12.695974
Show Author Affiliations
Norihiko Saga, Akita Prefectural Univ. (Japan)
Seiji Chonan, Akita Prefectural Univ. (Japan)


Published in SPIE Proceedings Vol. 6414:
Smart Structures, Devices, and Systems III
Said F. Al-Sarawi, Editor(s)

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