2022•The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)Requires access
Hyperboloidal Pneumatic Artificial Muscle
Masahiro WATANABE, Kazuki Abe, Kenjiro Tadakuma, Masashi Konyo, Satoshi TADOKORO
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Abstract
This paper proposes a hyperboloidal pneumatic artificial muscle. The actuator has a unique hourglass shape that has a potential to achieve low bending stiffness, high contraction force, and contraction ratio even if the actuator is short. Thus, it is suitable for soft articulated robots that require flexible short actuators. This paper presents characteristics of the focused actuator, fabrication methods, basic performance, and remaining technical problems.