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

Paper:

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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

Received:
January 26, 2016
Accepted:
August 25, 2016
Published:
December 20, 2016
Creative Commons License
Keywords:
McKibben pneumatic actuator, dynamical property, modeling, soft actuator
Abstract
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.
Relation between <i>V</i>, <i>L</i> and <i>f<sub>m</sub></i> on constant pressure condition

Relation between V, L and fm on constant pressure 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:
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