Abstract
This paper considers the requirements for a flexible actuation system that can be applied to untethered robots. Using organic muscle specifications as a base, mathematical models of the drive forces and operating principles in a braided pneumatic actuator are studied. Experimental testing of the braided muscle will show that it has the traditional benefits of pneumatic cylinders, combined with power/weight outputs of over 1.5kW/kg at 200kPa. In addition, reductions in the sponginess associated with air have made position control possible. This potential for controlled motion is demonstrated on a jointed finger powered by 2 pairs of antagonistic muscle.
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