Home >

news Help

Publication Information


Title
Japanese: 
English:Braided thin mckibben muscles for musculoskeletal robots 
Author
Japanese: 羅基爀, 難波江裕之, 鈴森康一.  
English: Gihyeok Na, Hiroyuki Nabae, Koichi Suzumori.  
Language English 
Journal/Book name
Japanese: 
English:Sensors and Actuators A: Physical 
Volume, Number, Page Volume 357       
Published date Aug. 1, 2023 
Publisher
Japanese: 
English:Elsevier 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
Official URL https://www.sciencedirect.com/science/article/pii/S0924424723002303
 
DOI https://doi.org/10.1016/j.sna.2023.114381
Abstract The McKibben artificial muscle is considered to be a good actuator for musculoskeletal robots because its compliance and contraction properties are similar to those of animal muscles. However, there are still some limitations to its application to musculoskeletal robots. Although the thin McKibben muscle developed by our research group is an improvement from the conventional one, it has a fatal disadvantage–it cannot be relaxed unlike real muscles. However, the braided McKibben muscle, previously proposed by our research group, can be elongated by applying an external force that can realize muscle relaxation. In this study, we improved its existing structure to provide sufficient durability, enabling its application to musculoskeletal robots, and investigated the muscle with a focus on passive relaxation. The improved braided McKibben muscle increased the driving range of the joint of a musculoskeletal arm model, and the results were verified numerically and experimentally.

©2007 Tokyo Institute of Technology All rights reserved.