How far are Pneumatic Artificial Muscles from biological muscles?

Mohseni O, Gagey F, Zhao G, Seyfarth A, Sharbafi MA (2020)

Publication Type: Conference contribution

Publication year: 2020

Journal

Proceedings - IEEE International Conference on Robotics and Automation Institute of Electrical and Electronics Engineers

Publisher: Institute of Electrical and Electronics Engineers Inc.

Pages Range: 1909-1915

Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation

Event location: Paris, FRA

ISBN: 9781728173955

DOI: 10.1109/ICRA40945.2020.9197177

Abstract

There is a long history demonstrating humans' tendency to create artificial copies of living creatures. For moving machines called robots, actuators play a key role in developing human-like movements. Among different types of actuation, PAMs (pneumatic artificial muscles) are known as the most similar ones to biological muscles. In addition to similarities in force generation mechanism (tension based), the well-accepted argumentation from Klute et al., states that the PAM force-length (fl) behavior is close to biological muscles, while the force-velocity (fv) pattern is different. Using the multiplicative formulation of the pressure (as an activation term), fl and fv beside an additive passive parallel elastic element, we present a new model of PAM. This muscle-based model can predict PAM dynamic behaviors with high precision. With a second experiment on a two-segmented leg, the proposed model is verified to predict the generated forces of PAMs in an antagonistic arrangement. Such a dynamic muscle-like model of artificial muscles can be used for the design and control of legged robots to generate robust, efficient and versatile gaits.

Involved external institutions

University of Tehran IR Iran, Islamic Republic of (IR) École Normale Supérieure de Cachan FR France (FR) Technische Universität Darmstadt DE Germany (DE)

How to cite

APA:

Mohseni, O., Gagey, F., Zhao, G., Seyfarth, A., & Sharbafi, M.A. (2020). How far are Pneumatic Artificial Muscles from biological muscles? In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1909-1915). Paris, FRA: Institute of Electrical and Electronics Engineers Inc..

MLA:

Mohseni, Omid, et al. "How far are Pneumatic Artificial Muscles from biological muscles?" Proceedings of the 2020 IEEE International Conference on Robotics and Automation, ICRA 2020, Paris, FRA Institute of Electrical and Electronics Engineers Inc., 2020. 1909-1915.

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