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1 2008

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A model of the McKibben muscle actuator based on experiments

Zhao H., Sugisaka M.

Systems Science

2008

Vol. 34, no 2

83-88

McKibben muscle is a kind of pneumatic artificial muscle. It can be used as the actuator to drive the robot and the rehabilitation device. So, its force characteristic is very important in order to control the contraction and extension of the McKibben muscle for the applications in the robot field. In this paper, a new force model, which describes the basic characteristics of the McKibben muscle such as nonlinear phenomena like hysteresis, is proposed based on the experimental results. The model can reproduce the experimental results exactly. Therefore, the model is very useful to analyze the behaviors of robots and rehabilitation devices driven by the McKibben muscles.