A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections) wh...
In this paper, a new approach for modeling the static force characteristic of Festo pneumatic muscle actuators (PMAs) will be presented. The model is physically motivated and therefore gives a deeper understanding of the Festo PMA. After introducing...
In this paper, two different torque control approaches for PMA-driven (PMA = Pneumatic muscle actuator) revolute joints are presented and tested. In previous work controllers for PMA-driven robots are typically customized for the use on a specific ro...
This paper introduces a compact pneumatic artificial muscle (CPAM) that integrates a coaxial rod and an internal helical compression spring (stiffness 9750 N/m) into a McKibben-type outer muscle and compares it to a commercial DMSP-20-200N from FESTO...
It is a general assumption that pneumatic muscle-type actuators will play an important role in the development of an assistive rehabilitation robotics system. In the last decade, the development of a pneumatic muscle actuated lower-limb leg orthosis...
Pneumatic artificial muscles (PAMs) are soft and flexible linear pneumatic actuators which produce human muscle like actuation. Due to these properties, the muscle actuators have an adaptable compliance for various robotic platforms as well as medica...
Pneumatic Artificial Muscles (PAMs) are soft actuators that mimic the contractile behavior of biological muscles through fluid-driven deformation. Originating from McKibben’s 1950s braided design, PAMs have evolved into a diverse class of actua...
Implementation of a prototype of a 4-degree of freedom (4-DOF) upper-limb exoskeleton robot for rehabilitation was described in this paper. The proposed exoskeleton robot has three DOFs at the shoulder joint and one DOF at the elbow joint. The upper-...
To solve the problem of controlling an intrinsically compliant actuator, pneumatic muscle actuator (PMA), this paper presents an extended proxy-based sliding mode control (EPSMC) strategy. It is well known that the chattering phenomenon of convention...
This research aims to investigate the practicality and feasibility of pneumatic muscle actuators (PMAs) applied in the pneumatic servo system. The mechanism consists of closed symmetrical planar robotic arms driven by two pairs of opposing PMAs, whos...
This paper presents a tracking control method for pneumatic muscle actuators (PMAs). Considering that the PMA platform only feedbacks position, and the velocity and disturbances cannot be observed directly, we use the extended-state-observer (ESO) fo...
This paper reports on the design, implementation, and characterization of a current-mode analog-front-end circuit for capacitance-to-voltage conversion that can be used in connection with a large variety of sensors and actuators in industrial and reh...
The paper presents an innovative theoretical concept of a bio-inspired soft gripper system with two parallel jaws, a fixed and a mobile one. It is conceived for gripping fragile or soft objects with complex, irregular shapes that are easily deformabl...
The pneumatic muscle actuator (PMA) has been widely applied in the researches of rehabilitation robotic devices for its high power to weight ratio and intrinsic compliance in the past decade. However, the high nonlinearity and hysteresis behavior of...
Recently, pneumatic artificial muscles (PAMs), a lightweight and high-compliant actuator, have been increasingly used in assistive rehabilitation robots. PAM-based applications must overcome two inherent drawbacks. The first is the nonlinearity due t...
An innovative wearable upper-limb power-assist exoskeleton system (UPES) was designed for laborers to improve work efficiency and reduce the risk of musculoskeletal disorders. This novel wearable UPES consists of four joints, each comprising a single...
A pneumatic muscle is a cheap, clean, and high-power active actuator. However, it is difficult to control due to its inherent nonlinearity and time-varying characteristics. This paper presents a pneumatic muscle active suspension system (PM-ASS) for...
Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the...
Soft actuators, designed for fragile item conveyance and navigation in complex environments, have garnered recent attention. This study proposes a cost-effective soft actuator, created by weaving tubes into twill patterns, capable of transportation a...
To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA) must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first f...
Shortage of labor and increased work of young people are causing problems in terms of care and welfare of a growing proportion of elderly people. This is a looming social problem because people of advanced ages are increasing. Necessary in the fields...
Soft robotics, a recent advancement in robotics systems, distinguishes itself by utilizing soft and flexible materials like silicon rubber, prioritizing safety during human interaction, and excelling in handling complex or delicate objects. Soft pneu...
Wearable mechatronics for powered orthoses, exoskeletons and prostheses require improved soft actuation systems acting as ‘artificial muscles’ that are capable of large strains, high stresses, fast response and self-sensing and that show...
Due to the time-varying nonlinear dynamic, uncertain model and hysteresis characteristics of the pneumatic artificial muscle (PAM) actuator, it is not easy to apply model-based control algorithms for monitoring, as well as controlling, the operation...
This article presents a novel design for a double bend pneumatic muscle actuator (DB-PMA) inspired by snake lateral undulation. The presented actuator has the ability to bend in opposite directions from its two halves. This behavior results in horizo...
Today, we are witnessing an increasing trend in the number of soft pneumatic actuator solutions in industrial environments, especially due to their human-safe interaction capabilities. An interesting solution in this frame is a vacuum pneumatic muscl...
This article presents the development of a self-bending contraction actuator (SBCA) through the analysis of its structure, kinematics, and torque formulas, and then explores its applications. The proposed actuator has been fabricated by two methods t...
This article presents a novel design of a continuum arm, which has the ability to extend and bend efficiently. Numerous designs and experiments have been done to different dimensions on both types of McKibben pneumatic muscle actuators (PMA) in order...
Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates the utilization of physical test benches to validate hypotheses regarding real-world applications of locomotion. This study introduces cos...
The majority of soft pneumatic actuators for rehabilitation exercises have been designed for adult users. Specifically, there is a paucity of soft rehabilitative devices designed for infants with upper and lower limb motor disabilities. We present a...
In this article, a soft robot arm that has the ability to twist in two directions is designed. This continuum arm is inspired by the twisting movements of the human upper limb. In this novel continuum arm, two contractor pneumatic muscle actuators (P...
McKibben’s muscle (MKM) is the most adopted among the different types of pneumatic artificial muscles (PAMs) due to its mechanical performance and versatility. Several geometric parameters, including the diameter, thickness, and length of the i...
The McKibben muscle types are pneumatic actuators known to be intrinsically safe for their high power-to-weight ratio. For these reasons, they are suitable for robotic, biomechanical, and medical applications. In these application fields and, above a...
Extensile fluidic artificial muscles (EFAMs) are soft actuators known for their large ranges of extension, low weight, and blocked forces comparable to those of pneumatic cylinders. EFAMs have yet to be studied in a way that thoroughly focuses on the...
Rehabilitation is an area of robotics in which human–robot collaboration occurs, requiring adaptation and compliance. Pneumatic artificial muscles (PAM) are soft actuators that have built-in compliance making them usable for rehabilitation robo...
Today, the analysis and synthesis methods of electro-pneumatic systems with position control actuated by pneumatic artificial muscles (PAMs) are quite well known. In these methods, pneumatic artificial muscle is considered as an object with lumped pa...
3D/4D printing technologies are currently among the fastest growing cutting-edge fabrication technologies. The scale of their applications is vast and applicable to nearly all industries. Three-dimensional printing technologies are particularly popul...
The development of soft robotics owes much to the field of biomimetics, where soft actuators predominantly mimic the movement found in nature. In contrast to their rigid counterparts, soft robots offer superior safety and human–machine interact...
Our goal is to design a neuromorphic locomotion controller for a prospective bioinspired quadruped robot driven by artificial muscle actuators. In this paper, we focus on achieving a running gait called a pace, in which the ipsilateral pairs of legs...
This article presents a series of innovative systems developed through student laboratory projects, comprising two autonomous vehicles, a quadrupedal walking robot, an active ankle-foot orthosis, a ball-on-beam balancing mechanism, a ball-on-plate sy...
A static aeroelastic analysis of the flexible trailing edge is conducted to calculate the deformed shape, aerodynamic coefficients and corresponding driving pressure. A physical flexible trailing edge model is manufactured using a honeycomb structure...
This paper considers the design, manufacture, and testing of a prototype “soft–stiff” worm-inspired robot referred to herein, as the PneumaticallyActuated PeristaLtic Advancing Modular (PALAM) robot. The robot has a modular structur...
Pneumatic artificial muscles (PAMs) possess compliant properties desirable for certain applications such as prosthetics and robotic structures. However, this compliance along with their inherent nonlinear dynamics make them difficult to accurately mo...
Pneumatic artificial muscles (PAMs) are flexible actuators that can be contracted or expanded by applying air pressure. They are used in robotics, prosthetics, and other applications requiring flexible and compliant actuation. PAMs are basically desi...
This paper suggests a new control design based on the concept of Synergetic Control theory for controlling a one-link robot arm actuated by Pneumatic artificial muscles (PAMs) in opposing bicep/tricep positions. The synergetic control design is first...
Rehabilitation robots are designed to help patients improve their recovery from injury by supporting them to perform repetitive and systematic training sessions. These robots are not only able to guide the subjects’ lower-limb to a designate trajecto...
The study of lower limbs has become relevant in recent years. Lower limbs have several classifications, but the most widespread categories are robots for patient rehabilitation and robots for work tasks. Two of the main pillars in the development of...
Robots that enable safe human-robot collaboration can be realized by using compliant drive units. In previous works, different mechanical designs of compliant pneumatic rotary drive units with similar characteristics have been presented. In this pape...
Interest in soft actuators has increased enormously in the last 10 years. Thanks to their compliance and flexibility, they are suitable to be employed to actuate devices that must safely interact with humans or delicate objects or to actuate bio-insp...
Dynamic characteristics and control of thin McKibben muscle (TMM) have not yet been fully investigated, especially on the translational antagonistic pair system. Therefore, the objective of this study is to propose a Switching Model Predictive Contro...
of 3