Braiding Thin McKibben Muscles to Enhance Their Contracting Abilities
Braiding Thin McKibben Muscles to Enhance Their Contracting Abilities
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DOI：
10.1109/lra.2018.2851025
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发表时间：
2018-10-01
影响因子：
5.2
通讯作者：
Suzumori, Koichi
中科院分区：
文献类型：
--
作者：
Koizumi, Shoichiro;Kurumaya, Shunichi;Suzumori, Koichi
这封信提出了一个新的概念，编织薄麦吉本肌肉，以提高他们的收缩能力相比，原来的肌肉。单个原始肌肉和传统的捆绑肌肉的收缩率为28%，而编织肌肉实现了37%的收缩率。我们设计，制造，并测试了几个原型与不同的编织参数，并证明了他们的效果从理论和实验。结果是有希望的，我们相信，薄编织McKibben肌肉将促进新型肌肉骨骼机器人的发展，并在各种应用中需要软机器人的能力是有用的。
This letter presents a novel concept of braiding thin McKibben muscles to improve their contracting ability compared to original muscles. Whereas a single original muscle and the conventional bundled muscle had a contracting ratio of 28%, braiding the muscles realized a contracting ratio of 37%. We designed, fabricated, and tested several prototypes with different braiding parameters, and demonstrated their effects both theoretically and experimentally. The results were promising and we believe that thin braided McKibben muscles will facilitate the development of novel musculoskeletal robots and be useful in various applications requiring soft robotic abilities.