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Title I List of Figures Ii

The document discusses air muscles, which are robotic actuators that are replacing conventional pneumatic cylinders due to their low cost and high power-to-weight ratio. Air muscles find applications in biorobotics and prosthetic limbs. The document outlines the contents which include the introduction, history, construction, working principles, theoretical modeling, dynamic properties, operational characteristics, advantages, disadvantages, and applications of air muscles. It also includes figures and references to illustrate and cite information about air muscles.

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Anoop Slathia
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30 views4 pages

Title I List of Figures Ii

The document discusses air muscles, which are robotic actuators that are replacing conventional pneumatic cylinders due to their low cost and high power-to-weight ratio. Air muscles find applications in biorobotics and prosthetic limbs. The document outlines the contents which include the introduction, history, construction, working principles, theoretical modeling, dynamic properties, operational characteristics, advantages, disadvantages, and applications of air muscles. It also includes figures and references to illustrate and cite information about air muscles.

Uploaded by

Anoop Slathia
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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CONTENTS

Title Abstract List of Figures 1. Introduction 2. History 3. Construction 4. Working 5. Theoretical Model 5.1 Estimation of frictional effects 6. Dynamic Properties 6.1 Experimental results 7. Operational Characteristics 7.1 Specifications for Shadow Air Muscles 8. Differences from pneumatic cylinders 9. Advantages of Air Muscles 10. Disadvantages 11. Applications 11.1 Humanoid Robots 11.2 Artificial limbs 11.3 The Dexterous hands 12. Further developments 12.1 Advantages of PPAMs 13. Conclusion 14. References 14.1 Published Papers 14.2 Books 14.3. Websites Page I II 1 1 2 3 4 6 7 7 8 9 10 10 11 12 12 12 13 14 14 14 15 15 16 16

ABSTRACT
Air muscle is essentially a robotic actuator which is replacing the conventional pneumatic cylinders at a rapid pace. Due to their low production costs and very high power to weight ratio, as high as 400:1, the preference for Air Muscles is increasing. Air Muscles find huge applications in biorobotics and development of fully functional prosthetic limbs, having superior controlling as well as functional capabilities compared with the current models. This paper discusses Air Muscles in general, their construction, and principle of operation, operational characteristics and applications.

LIST OF FIGURES

FIGURES
Figure 1: Air Muscle Schematic- McKibben Model Figure 2: Air muscle construction [Shadow air muscle: 30mm] Figure 3: Air Muscle at different stages Figure: 4 Figure: 5 Figure: 6. Graph between 1and Force Figure: 7. Graph between length and velocity Figure: 8. Graph between pressure and contraction for 45 N load. Figure: 9. Graph between contraction and time. Figure: 10. Stretched form Figure: 11. Contracted form Figure: 12. Humanoid robot manufactured by Shadow robotic company Figure: 13. Artificial limb developed at the bio robotics Lab, University of Washington Figure: 14. Merlin Human form Air Muscles attached to human hand Figure: 15. Air Muscle Hand and Air Muscle hand Figure: 16.The pleated pneumatic Air Muscles

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REFERENCE NO. [a] [a] [2] [1] [1] [1] [1] [3] [3] [3] [3] [a] [b] [c] [a] [d]

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