JRM Vol.28 No.6 pp. 830-836
doi: 10.20965/jrm.2016.p0830


Measurement Experiments and Analysis for Modeling of McKibben Pneumatic Actuator

Daisuke Nakanishi*, Yasuhiro Sugimoto*, Hiroaki Honda*, and Koichi Osuka*,**

*Osaka University
2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

**CREST, Japan Science and Technology Agency

January 26, 2016
August 25, 2016
December 20, 2016
McKibben pneumatic actuator, dynamical property, modeling, soft actuator

Measurement Experiments and Analysis for Modeling of McKibben Pneumatic Actuator

Relation between V, L and fm on constant pressure condition

In this study, we investigate the dynamic relationship between tension, contraction velocity, and length of the McKibben pneumatic actuators (MPAs) via experiments. Although MPAs are widely used in biomimetic robots or rehabilitation machinery, it has not been verified why they can exhibit stable motion from their simple structure. We analyze the relation of output tension, contraction velocity, and length. From the results of experiments, we conclude that the tension is related to both the velocity and the length of the actuator and the general form of this relation can be approximated as a plane. Moreover, we confirm that the parameters of the plane depend on the MPA pressure and valve condition.

Cite this article as:
D. Nakanishi, Y. Sugimoto, H. Honda, and K. Osuka, “Measurement Experiments and Analysis for Modeling of McKibben Pneumatic Actuator,” J. Robot. Mechatron., Vol.28, No.6, pp. 830-836, 2016.
Data files:
  1. [1] T. Noritsugu and T. Tanaka, “Application of rubber artificial muscle manipulator as a rehabilitation robot,” IEEE/ASME Trans. Mechatronics, Vol.2, No.4, pp. 259-267, 1997.
  2. [2] T. Noritsugu, D. Sasaki, M. Kameda, A. Fukunaga, and M. Takaiwa, “Wearable power assist device for standing up motion using pneumatic rubber artificial muscles,” J. of Robotics and Mechatronics, Vol.19, No.6, pp. 619-628, 2007.
  3. [3] M. Wisse and J. van Frankenhuyzen, “Design and Construction of MIKE; a 2-D Autonomous Biped Based on Passive Dynamic Walking,” Springer Tokyo, 2003.
  4. [4] T. Takuma and K. Hosoda, “Controlling the walking period of a pneumatic muscle walker,” The Int. J. of Robotics Research, Vol.25, No.9, pp. 861-866, 2006.
  5. [5] K. Hosoda, Y. Sakaguchi, H. Takayama, and T. Takuma, “Pneumatic-driven jumping robot with anthropomorphic muscular skeleton structure,” Autonomous Robots, Vol.28, No.3, pp. 307-316, 2010.
  6. [6] C-P. Chou and B. Hannaford, “Measurement and modeling of mckibben pneumatic artificial muscles,” Robotics and Automation, Vol.12, pp. 90-102, 1996.
  7. [7] P. Tondu and B. and Lopez, “Modeling and control of McKibben artificial muscle robot actuators,” IEEE Control Systems Magazine, Vol.20, No.2, pp. 15-38, 2000.
  8. [8] G. K. Klute, J. M. Czerniecki, and B. Hannaford, “Artificial muscles: Actuators for biorobotic systems,” The Int. J. of Robotics Research, Vol.21, No.4, pp. 295-309, 2002.
  9. [9] K. Urabe and K. Kogiso, “Hybrid nonlinear model of mckibben pneumatic artificial muscle systems incorporating a pressure-dependent coulomb friction coefficient,” IEEE Multi-Conf. on Systems and Control, pp. 1571-1578, 2015.
  10. [10] K. Urabe and K. Kogiso, “Application of hybrid model predictive control to mckibben pneumatic artificial muscle system,” SICE Int. Symposium on Control Systems, 514-5, 2015.
  11. [11] Y. Sugimoto, K. Naniwa, K. Osuka, and Y. Sankai, “Static and dynamic properties of mckibben pneumatic actuator for self-stability of legged-robot motion,” Advanced Robotics, Vol.27, No.6, 2013.
  12. [12] H. Honda, D. Nakanishi, Y. Sugimoto, K. Osuka, and Y. Sankai, “Measurement experiments and analysis for modeling dynamic properties of McKibben Pneumatic Actuator,” Proc. of the 2015 JSME Conf. on Robotics and Mechatronics, 2015.
  13. [13] D. Nakanishi, Y. Sueoka, Y. Sugimoto, and K. Osuka, “Numerical analysis and experimental verification for standing posture and joint stiffness of a 2-dimensional legged robot driven by McKibben pneumatic actuator,” Trans. of SICE, Vol.51, No.12, pp. 858-865, 2015.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, IE9,10,11, Opera.

Last updated on Nov. 16, 2018