Development of Contraction and Extension Artificial Muscles with Different Braid Angles and Their Application to Stiffness Changeable Bending Rubber Mechanismby Their Combination

Kazuhiro Iwata; Koichi Suzumori; Shuichi Wakimoto

doi:10.20965/jrm.2011.p0582

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JRM Vol.23 No.4 pp. 582-588

doi: 10.20965/jrm.2011.p0582

(2011)

Paper:

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Development of Contraction and Extension Artificial Muscles with Different Braid Angles and Their Application to Stiffness Changeable Bending Rubber Mechanismby Their Combination

Kazuhiro Iwata, Koichi Suzumori, and Shuichi Wakimoto

Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan

Received:

September 30, 2010

Accepted:

April 22, 2011

Published:

August 20, 2011

Keywords:

McKibben actuator, stiffness change, hydraulic soft actuator

Abstract

Recently, there has been increasing researches on the McKibben type artificial muscle, because it is small, light, and high powered. In this study, in addition to the contraction artificial muscle, the stiffness change artificial muscle and the extending artificial muscle have been developed. By nonlinear finite element method analysis, the best sleeve knitting angle has been derived to achieve the stiffness change and the extension and contraction motions. From the results, three kinds of artificial muscles realizing contraction and extension motion, and the stiffness change have been fabricated. To apply high hydraulic pressure on the muscles, these are composed of the three layer tube and the reverse tapered plug. We confirmed that the three muscles respectively generate stiffness change, contraction, and extension motions successfully. In addition, the novel bending actuator has been developed by combining contractional and extensional artificial muscles. Bending motion with high stiffness has been realized.

Cite this article as:

K. Iwata, K. Suzumori, and S. Wakimoto, “Development of Contraction and Extension Artificial Muscles with Different Braid Angles and Their Application to Stiffness Changeable Bending Rubber Mechanismby Their Combination,” J. Robot. Mechatron., Vol.23 No.4, pp. 582-588, 2011.

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References

[1] L. Gao and T. Noritsugu, “Development of Wearable Waist Power Assist Device Using Curved Pneumatic Artificial Rubber Muscle,” The Japan Fluid Power System Society, Vol.36, No.6, pp. 143-151, 2005.
[2] M. Nakatani and T. Nakamura, “The development of super-thintype pneumatic rubber artificial muscle and the application to the robot hand,” ROBOMEC 2009, 2P1-A15, 2009.
[3] K. Suzumori, S. Iikura, and H. Tanaka, “Applying A Flexible Microactuator to Robotic Mechanism,” IEEE Control Systems, Vol.12, No.1, pp. 21-27, Feb. 1992.
[4] T. Fukuda and K. Miyahara, “POSITION AND FORCE CONTROL OF MANIPULATORS WITH PNEUMATIC DRIVEN RUBBER ACTUATORS,” Society of Biomechanisms (SOBIM), Vol.10, pp. 271-280, 1990.
[5] H. F. Schulte, “The Characteristics of theMcKibben Artificial Muscle,” The Application of External Power in Prosthetics and Orthotics, pp. 94-115, 1961.
[6] M. Mayuko, S. Koichi, T. Masayuki, and H. Takashi, “Very High Force Hydraulic McKibben Artificial Muscle with a p-Phenylene-2,6-benzobisoxazole Cord Sleeve,” Advanced Robotics, Vol.24, No.1-2, pp. 233-254, 2010.
[7] K. Iwata and K. Suzumori, “Development of high hydraulic pressure McKibben artificial muscle and its application to light spreader,” ROBOMEC 2009, 2P1-A17, 2009.
[8] S.Wakimoto, I. Kumagai, and K. Suzumori, “Development of large Intestine Endoscope Changing Its Stiffness,” 2009 IEEE Int. Conf. on Robotics and Biomimetics, pp. 2320-2325, Dec. 2009.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] L. Gao and T. Noritsugu, “Development of Wearable Waist Power Assist Device Using Curved Pneumatic Artificial Rubber Muscle,” The Japan Fluid Power System Society, Vol.36, No.6, pp. 143-151, 2005.

[2] [2] M. Nakatani and T. Nakamura, “The development of super-thintype pneumatic rubber artificial muscle and the application to the robot hand,” ROBOMEC 2009, 2P1-A15, 2009.

[3] [3] K. Suzumori, S. Iikura, and H. Tanaka, “Applying A Flexible Microactuator to Robotic Mechanism,” IEEE Control Systems, Vol.12, No.1, pp. 21-27, Feb. 1992.

[4] [4] T. Fukuda and K. Miyahara, “POSITION AND FORCE CONTROL OF MANIPULATORS WITH PNEUMATIC DRIVEN RUBBER ACTUATORS,” Society of Biomechanisms (SOBIM), Vol.10, pp. 271-280, 1990.

[5] [5] H. F. Schulte, “The Characteristics of theMcKibben Artificial Muscle,” The Application of External Power in Prosthetics and Orthotics, pp. 94-115, 1961.

[6] [6] M. Mayuko, S. Koichi, T. Masayuki, and H. Takashi, “Very High Force Hydraulic McKibben Artificial Muscle with a p-Phenylene-2,6-benzobisoxazole Cord Sleeve,” Advanced Robotics, Vol.24, No.1-2, pp. 233-254, 2010.

[7] [7] K. Iwata and K. Suzumori, “Development of high hydraulic pressure McKibben artificial muscle and its application to light spreader,” ROBOMEC 2009, 2P1-A17, 2009.

[8] [8] S.Wakimoto, I. Kumagai, and K. Suzumori, “Development of large Intestine Endoscope Changing Its Stiffness,” 2009 IEEE Int. Conf. on Robotics and Biomimetics, pp. 2320-2325, Dec. 2009.