Braiding Thin McKibben Muscles to Enhance Their Contracting Abilities

被引：33

作者：

Koizumi, Shoichiro ^{[1
]}

Kurumaya, Shunichi ^{[1
]}

Nabae, Hiroyuki ^{[1
]}

Endo, Gen ^{[1
]}

Suzumori, Koichi ^{[1
]}

机构：

[1] Tokyo Inst Technol, Dept Mech Engn, Tokyo 1528552, Japan

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2018年 / 3卷 / 04期

基金：

日本学术振兴会;

关键词：

Hydraulic/pneumatic actuators; soft material robotics;

D O I：

10.1109/LRA.2018.2851025

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This letter presents a novel concept of braiding thin McKibben muscles to improve their contracting ability compared to original muscles. Whereas a single original muscle and the conventional bundled muscle had a contracting ratio of 28%, braiding the muscles realized a contracting ratio of 37%. We designed, fabricated, and tested several prototypes with different braiding parameters, and demonstrated their effects both theoretically and experimentally. The results were promising and we believe that thin braided McKibben muscles will facilitate the development of novel musculoskeletal robots and be useful in various applications requiring soft robotic abilities.

引用

页码：3240 / 3246

页数：7

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