Research on PMA properties and humanoid lower limb application

摘要

DMSP-10mm-80mm-RM-CM Pneumatic Muscle Actuator (PMA) which is manufactured by FESTO is tested in the test bed with air cylinder and sensors. Isobaric, isotonic and isometric contraction characteristics of the PMA is got to know through experiment. Mechanical structure of humanoid lower limb is designed with the PMA, which combined with cable to replace corresponding human muscles. kinematic and dynamic characteristic of knee joint which is driven by monarticular muscles is analyzed with Jacobian matrix and Newton-Euler method respectively.