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| Main Authors: | , , , , , |
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| Format: | Preprint |
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2023
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2301.04684 |
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| _version_ | 1866929557510029312 |
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| author | Bennington, Michael J. Wang, Tuo Yin, Jiaguo Bergbreiter, Sarah Majidi, Carmel Webster-Wood, Victoria A. |
| author_facet | Bennington, Michael J. Wang, Tuo Yin, Jiaguo Bergbreiter, Sarah Majidi, Carmel Webster-Wood, Victoria A. |
| contents | The McKibben pneumatic artificial muscle is a commonly studied soft robotic actuator, and its quasistatic force-length properties have been well characterized and modeled. However, its damping and force-velocity properties are less well studied. Understanding these properties will allow for more robust dynamic modeling of soft robotic systems. The force-velocity response of these actuators is of particular interest because these actuators are often used as hardware models of skeletal muscles for bioinspired robots, and this force-velocity relationship is fundamental to muscle physiology. In this work, we investigated the force-velocity response of McKibben actuators and the ability to tune this response through the use of viscoelastic polymer sheaths. These viscoelastic McKibben actuators (VMAs) were characterized using iso-velocity experiments inspired by skeletal muscle physiology tests. A simplified 1D model of the actuators was developed to connect the shape of the force-velocity curve to the material parameters of the actuator and sheaths. Using these viscoelastic materials, we were able to modulate the shape and magnitude of the actuators' force-velocity curves, and using the developed model, these changes were connected back to the material properties of the sheaths. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2301_04684 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Design and Characterization of Viscoelastic McKibben Actuators with Tunable Force-Velocity Curves Bennington, Michael J. Wang, Tuo Yin, Jiaguo Bergbreiter, Sarah Majidi, Carmel Webster-Wood, Victoria A. Robotics The McKibben pneumatic artificial muscle is a commonly studied soft robotic actuator, and its quasistatic force-length properties have been well characterized and modeled. However, its damping and force-velocity properties are less well studied. Understanding these properties will allow for more robust dynamic modeling of soft robotic systems. The force-velocity response of these actuators is of particular interest because these actuators are often used as hardware models of skeletal muscles for bioinspired robots, and this force-velocity relationship is fundamental to muscle physiology. In this work, we investigated the force-velocity response of McKibben actuators and the ability to tune this response through the use of viscoelastic polymer sheaths. These viscoelastic McKibben actuators (VMAs) were characterized using iso-velocity experiments inspired by skeletal muscle physiology tests. A simplified 1D model of the actuators was developed to connect the shape of the force-velocity curve to the material parameters of the actuator and sheaths. Using these viscoelastic materials, we were able to modulate the shape and magnitude of the actuators' force-velocity curves, and using the developed model, these changes were connected back to the material properties of the sheaths. |
| title | Design and Characterization of Viscoelastic McKibben Actuators with Tunable Force-Velocity Curves |
| topic | Robotics |
| url | https://arxiv.org/abs/2301.04684 |