IJAT Vol.18 No.2 pp. 257-264
doi: 10.20965/ijat.2024.p0257

Research Paper:

Drive Characteristics of Air-Cylinder-Type Artificial Muscle in Annular Bending

Tatsuhiro Hiramitsu ORCID Icon, Yuuki Miyake, Hiroaki Seki ORCID Icon, and Tokuo Tsuji ORCID Icon

Kanazawa University
Kakuma-machi, Kanazawa, Ishikawa 920-1192, Japan

Corresponding author

June 1, 2023
December 12, 2023
March 5, 2024
artificial muscle, soft actuator, air cylinder, flexible actuator

Air cylinders are actuators that slide a piston inside cylinders by applying air pressure. We propose an air-cylinder-type artificial muscle that can be flexibly bent by using a flexible tube for the cylindrical part. The actuator output was a string connected to a piston. When the air-cylinder-type artificial muscle bends, the inner wall of the tube and the string come into contact, causing output fluctuations owing to friction. In this study, we investigated the output when an artificial muscle was bent. After describing the structure of the air-cylinder-type artificial muscle, the measurement results of the resistance force at each part of the actuator are presented. A theoretical output inspired by the capstan equation was derived, and its validity was verified by comparison with experimental results.

Cite this article as:
T. Hiramitsu, Y. Miyake, H. Seki, and T. Tsuji, “Drive Characteristics of Air-Cylinder-Type Artificial Muscle in Annular Bending,” Int. J. Automation Technol., Vol.18 No.2, pp. 257-264, 2024.
Data files:
  1. [1] K. Suzumori and A. A. Faudzi, “Trends in hydraulic actuators and components in legged and tough robots: A review,” Advanced Robotics, Vol.32, No.9, pp. 458-476, 2018.
  2. [2] T. Proietti, E. Ambrosini, A. Pedrocchi, and S. Micera, “Wearable robotics for impaired upper-limb assistance and rehabilitation: State of the art and future perspectives,” IEEE Access, Vol.10, pp. 106117-106134, 2022.
  3. [3] R. J. Varghese, D. Freer, F. Deligianni, J. Liu, and G.-Z. Yang, “Chapter 3 – Wearable robotics for upper-limb rehabilitation and assistance: A review of the state-of-the-art, challenges, and future research,” R. K.-Y. Tong (Ed.), “Wearable Technology in Medicine and Health Care,” pp. 23-69, Academic Press, 2018.
  4. [4] A. T. Silveira, M. A. de Souza, B. L. Fernandes, and P. Nohama, “From the past to the future of therapeutic orthoses for upper limbs rehabilitation,” Research on Biomedical Engineering, Vol.34, No.4, pp. 368-380, 2018.
  5. [5] M. Yokota and M. Takaiwa, “Gait rehabilitation system using a non-wearing type pneumatic power assist device,” J. Robot. Mechatron., Vol.33, No.4, pp. 927-934, 2021.
  6. [6] M. Yokota and M. Takaiwa, “Development of non-wearing type pneumatic power assist device – Basic concept and performance evaluation –,” J. Robot. Mechatron., Vol.32, No.5, pp. 1052-1060, 2020.
  7. [7] M. A. M. Dzahir and S. Yamamoto, “Recent trends in lower-limb robotic rehabilitation orthosis: Control scheme and strategy for pneumatic muscle actuated gait trainers,” Robotics, Vol.3, No.2, pp. 120-148, 2014.
  8. [8] R. J. Sanchez, E. Wolbrecht, R. Smith, J. Liu, S. Rao, S. Cramer, T. Rahman, J. E. Bobrow, and D. J. Reinkensmeyer, “A pneumatic robot for re-training arm movement after stroke: Rationale and mechanical design,” 9th Int. Conf. on Rehabilitation Robotics (ICORR 2005), pp. 500-504, 2005.
  9. [9] L. Lucas, M. DiCicco, and Y. Matsuoka, “An EMG-controlled hand exoskeleton for natural pinching,” J. Robot. Mechatron., Vol.16, No.5, pp. 482-488, 2004.
  10. [10] T. Akagi, S. Dohta, and K. Okabe, “Development of a flexible pneumatic cylinder with a flexible tube,” Proc. of INTERMAC2001 Joint Tech. Conf., pp. 1-10, 2001.
  11. [11] T. Akagi and S. Dohta, “Development of a rodless type flexible pneumatic cylinder and its application,” Trans. of the Japan Society of Mechanical Engineers, Ser. C, Vol.73, No.731, pp. 2108-2124, 2007 (in Japanese).
  12. [12] Y. Miyake, T. Hiramitsu, H. Seki, and T. Tsuji, “Verification of the effect on output of the air-cylinder type artificial muscle in a circular bending,” Proc. of the 19th Int. Conf. on Precision Engineering, C209, 2022.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Apr. 05, 2024