A Circular Pneumatic Muscle Actuator (CPMA) Inspired by Human Skeletal Muscles

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 Biological inspiration provides numerous artificial benefits to our lives, such as a pneumatic muscle actuator (PMA), which was presented by Joseph L. McKibben in the 1950’s and is built from an inner rubber tube bound by a braided sleeve. The construction of the PMA defines the type of actuator. By selecting the length of both the inner tube and the braided sleeve, the PMA acts as a contraction actuator if the braided angle (θ), which is measured between the braided stand and the vertical line, is less than 54.70, and as an extension actuator if the angle is more than 54.70. Moreover, the PMA will produce a tensile force for the contractor type and an extension force for the extensor PMA. The force value for both types depends on the structure and the material specifications of the PMA.


Full paper can found at 

https://ieeexplore.ieee.org/abstract/document/8404889


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