Design and characterization of artificial muscles from wedge-like pneumatic soft modules
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Description
This work is based on the design of a muscle actuator made entirely of silicone rubber
that contract upon actuation. The manufacturing procedure, design parameters and
measurement results of performance of these muscles such as the velocity of
shortening, isometric and isotonic contraction is described. In order to measure these
performance data of the Soft Robotic Muscles (SRM), visual processing is made use of.
The Soft Robotic Muscles are manufactured to mimic the skeletal muscles present in
the human body. These muscles are composed of a number of wedge-like units in
series, the number of these wedge units increase the contraction. The soft muscles
were tested on a model hinge joint to execute flexion/extension of the forearm at the
elbow. These muscles were characterized in order to find optimum design parameters
that result in more contraction and speed. Aside from contracting, the Soft Robotic
Muscle has an interesting capability of producing bidirectional bending by the regulation
of internal air pressure in each wedge unit
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TK Electrical engineering. Electronics Nuclear engineering