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Modelling of artificial arm actuated by pneumatic muscle actuators

Dindorf R.

International Journal of Applied Mechanics and Engineering

2010

Vol. 15, no 3

667-683

The paper deals with biomechanical engineering (biomedical engineering, rehabilitation engineering) connected with the design and modelling of artificial arm (prosthetic arm, exoskeleton arm, bionic arm) actuated by pneumatic artificial muscles (PAMs), known also as pneumatic muscle actuators (PMAs). The kinematic and dynamic models of artificial arm are based on the model of the natural biceps-triceps system. The operation of two pneumatic muscles in bi-muscular driving system (BMDS) can be compared to that of natural agonistic-antagonistic muscles. The static model of PMA is determined on the basis of its physical and geometric properties. A phenomenological biomimetic dynamic model of PMA constructed on the basis of energetic-viscoelastic Hill-type muscle model is proposed. The virtual model and animation of artificial arm were conducted by means of Solid Works software. The presented models of artificial arm are used to design exoskeleton arm of weight and dimensions equivalent to those of human arm.