Pneumatic artificial muscles are some of the most famous linear actuators in bio-inspired robotics. In this study, improved manufacturing and modelling of a Soft Inverse Pneumatic Artificial Muscle (SIPAM) are presented. The proposed actuator is able to contract of nearly 70% while simultaneously applying a pulling force. The inverse actuation scheme consists in a muscle elongation upon pressurisation, followed by a passive contractile phase. Experimental tests were conducted to validate the proposed model. The results showed that our model is able to capture the SIPAM non-linear behaviours, and demonstrate that this artificial muscle can work at frequencies that are comparable to the ones of the natural muscle contraction.

Modelling and characterization of a Soft Inverse Pneumatic Artificial Muscle

Lucrezia Lorenzon;Debora Zrinscak;Martina Maselli;Matteo Cianchetti
2021-01-01

Abstract

Pneumatic artificial muscles are some of the most famous linear actuators in bio-inspired robotics. In this study, improved manufacturing and modelling of a Soft Inverse Pneumatic Artificial Muscle (SIPAM) are presented. The proposed actuator is able to contract of nearly 70% while simultaneously applying a pulling force. The inverse actuation scheme consists in a muscle elongation upon pressurisation, followed by a passive contractile phase. Experimental tests were conducted to validate the proposed model. The results showed that our model is able to capture the SIPAM non-linear behaviours, and demonstrate that this artificial muscle can work at frequencies that are comparable to the ones of the natural muscle contraction.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11382/539617
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