Experimental comparisons between McKibben type artificial muscles and straight fibers type artificial muscles
Experimental comparisons between McKibben type artificial muscles and straight fibers type artificial muscles
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McKibben型人工肌肉与直纤维型人工肌肉的实验比较
DOI：
10.1117/12.698845
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Taro Nakamura
中科院分区：
文献类型：
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作者：
Taro Nakamura
本文介绍了作者研制的麦基本型人工肌肉与直纤维型人工肌肉的实验比较。帮助人类肌肉的可穿戴设备和康复机器人应该具有与人类肌肉相似的特征。此外，由于可穿戴设备和康复机器人应该很轻，因此需要具有高功率/重量比的执行器。目前，McKibben类型被广泛用作人工肌肉，但实际上它的物理模型是高度非线性的。此外，由于套筒的膨胀和收缩产生的摩擦，该执行器的热量和机械损失很大。因此，作者开发了一种人工肌肉管，在天然乳胶橡胶管中嵌入了高强度玻璃纤维。实验结果表明，研制的人工肌肉在基本特性方面比McKibben类型的人工肌肉更有效，直纤维人工肌肉比McKibben类型的人工肌肉具有更大的收缩比和功率，寿命更长。在等张和等长的动态评价上，它与人类肌肉的特征几乎相同。
This paper describes experimental comparison between a conventional McKibben type artificial muscle and a straight fibers type artificial muscle developed by the authors. A wearable device and a rehabilitation robot which assists a human muscle should have characteristics similar to those of human muscle. In addition, because the wearable device and the rehabilitation robot should be light, an actuator with a high power/weight ratio is needed. At present, the McKibben type is widely used as an artificial muscle, but in fact its physical model is highly nonlinear. Further, the heat and mechanical loss of this actuator are large because of the friction caused by the expansion and contraction of the sleeve. Therefore, the authors have developed an artificial muscle tube in which high strength glass fibers have been built into the tube made from natural latex rubber. As results, experimental results demonstrated that the developed artificial muscle is more effective regarding its fundamental characteristics than that of the McKibben type; the straight fibers types of artificial muscle have more contraction ratio and power, longer lifetime than the McKibben types. And it has almost same characteristics of human muscle for isotonic and isometric that evaluate it dynamically.