Free strain gradient reversal of a variable recruitment fluidic artificial muscle bundle
Free strain gradient reversal of a variable recruitment fluidic artificial muscle bundle
复制标题
可变募集流体人工肌束的自由应变梯度反转
DOI：
10.1117/12.2583213
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Bryant, Matthew
中科院分区：
文献类型：
--
作者：
Kim, Jeong Yong;Mazzoleni, Nicholas;Bryant, Matthew
本文研究了可变募集束内压缩流体人工肌肉 (FAM) 中产生的阻力的影响。就像我们的骨骼肌器官根据负载需求选择性地募集不同数量的运动纤维一样，可变募集 FAM 束自适应地激活最小数量的运动单位 (MU) 以提高其整体效率。可变招募捆绑包可以在不同的招募状态（RS）下运行，在此期间仅激活捆绑包内的 FAM 子集。在这种情况下，活性 FAM 和非活性/低压 FAM 之间会出现应变差异。这种应变差异会导致非活动/低压 FAM 受到压缩，导致它们施加与活动 FAM 的力输出相反的阻力。本文介绍了 FAM 拉伸和压缩区域的实验测量。该数据用于模拟忽略阻力效应和包含阻力效应时可变募集束的整体力-应变空间。与直觉相反，当由于阻力的存在而过渡到更高的 RS 时，观察到束自由应变的初始下降。我们将这种现象称为可变招募束的自由应变梯度反转。本文最后讨论了这一现象的影响。
This paper investigates the effect of resistive forces that arise in compressed fluidic artificial muscles (FAMs) within a variable recruitment bundle. Much like our skeletal muscle organs that selectively recruit different number of motor fibers depending on the load demand, a variable recruitment FAM bundle adaptively activates the minimum number of motor units (MUs) to increase its overall efficiency. A variable recruitment bundle may operate in different recruitment states (RSs) during which only a subset of the FAMs within a bundle are activated. In such cases, a difference in strain occurs between active FAMs and inactive/low-pressure FAMs. This strain difference results in the compression of inactive/lowpressure FAMs causing them to exert a resistive force opposing the force output of active FAMs. This paper presents experimental measurements for a FAM for both tensile and compressive regions. The data is used to simulate the overall force-strain space of a variable recruitment bundle for when resistive force effects are neglected and when they are included. Counterintuitively, an initial decrease in bundle free strain is observed when a transition to a higher RS is made due to the presence of resistive forces. We call this phenomenon the free strain gradient reversal of a variable recruitment bundle. The paper is concluded with a discussion of the implications of this phenomenon.
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DOI：
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发表时间：
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期刊：
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