Twisting Tube Artificial Muscle (TTAM) and Its Application in Agonist and Antagonist Drive
Source abstract
Abstract
Pneumatic artificial muscles (PAMs) are inherently compliant and relatively safe. They are widely used in applications where human beings and robots interact closely, such as service robots or medical robots. However, PAMs are constrained by bulky pumps and valve control systems, limiting their mobility, portability, and practical applications. In this research, a novel type of artificial muscle, namely Twisting Tube Artificial Muscle (TTAM), is presented. In a TTAM design, fluid (pressurized air in this research) is contained inside an elastic tube (constrained by a braiding). By twisting the tube from one end, the fluid inside the twisted part will be extruded to the untwisted part, resulting in a pressure increase inside the untwisted part. Both the twisted and untwisted parts will thus contract. Modeling and experimental characterization of the TTAM are conducted. In an experimental test at 100 kPa initial air pressure, after a 6π twisting angle, the internal pressure of a prototype TTAM is increased to 219 kPa, and the largest contraction force of the TTAM was up to 200 N. A novel antagonistic robotic joint actuated by two TTAMs is developed as a sample application.
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Research context
OpenAlex topics: Prosthetics and Rehabilitation Robotics · Dielectric materials and actuators · Soft Robotics and Applications
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
The Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 510641, China
School of Mechanical and Electrical Engineering, Chengdu University of Technology, Chengdu 610500, China
The Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, China
Funding
Special Fund for Scientific and Technological Innovation Strategy of Guangdong Province · National Natural Science Foundation of China · CJYC program of Guangzhou · Fundamental Research Funds for the Central Universities
References (44)
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