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Actuators 2013, 2(4), 129-144; doi:10.3390/act2040129
Article

Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems

 and *
Received: 5 November 2013; in revised form: 14 November 2013 / Accepted: 20 November 2013 / Published: 25 November 2013
(This article belongs to the Special Issue Human Centered Actuators)
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Abstract: This paper presents a new type of muscle-like actuator, namely double-acting (DA) sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc.). Developed based on the traditional pneumatic muscle actuator, the new DA sleeve muscle incorporates a unique insert at the center. With the insert occupying the central portion of the internal volume, this new actuator enjoys multiple advantages relative to the traditional pneumatic muscle, including a consistent increase of force capacity over the entire range of motion, and a significant decrease of energy consumption in operation. Furthermore, the insert encompasses an additional chamber, which generates an extension force when pressurized. As such, this new actuator provides a unique bi-directional actuation capability, and, thus, has a potential to significantly simplify the design of a muscle actuator-powered robotic system. To demonstrate this new actuator concept, a prototype has been designed and fabricated, and experiments conducted on this prototype demonstrated the enhanced force capacity and the unique bi-directional actuation capability.
Keywords: robotic actuator; artificial muscle; muscle-like actuator robotic actuator; artificial muscle; muscle-like actuator
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Zheng, H.; Shen, X. Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems. Actuators 2013, 2, 129-144.

AMA Style

Zheng H, Shen X. Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems. Actuators. 2013; 2(4):129-144.

Chicago/Turabian Style

Zheng, Hao; Shen, Xiangrong. 2013. "Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems." Actuators 2, no. 4: 129-144.


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