Static and Dynamic Characteristics of McKibben Pneumatic Artificial Muscles

摘要

This paper reports mechanical testing and modeling results for the McKibbenartificial muscle pneumatic actuator. his device first developed in the 195D's, contains an expanding tube surrounded by braided cords. We report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models. The results are briefly compared with human muscle properties to evaluate the suitability of McKibben actuators for human muscle emulation in biologically based robot arms.