Modelling and experimental analysis of a novel design for soft pneumatic artificial muscles

Mohammadreza Memarian, Rob Gorbet, Dana Kulic

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

13 Citations (Scopus)

Abstract

Soft pneumatic artificial muscles (SPAMs) are a type of pneumatic actuator that provide customizable motion trajectories in three dimensional space without the need for rigid links or a transmission mechanism. This paper presents a novel design for producing SPAMs, named wrapped SPAMs (WSPAMs). Unlike previous SPAM designs, the production process of WSPAM is highly repeatable, while the motion trajectory can be easily modified. A model for predicting the steady-state angular displacement of a WSPAM actuator based on its geometrical parameters and the elasticity of the materials used in its production is presented and experimentally validated.

Original languageEnglish
Title of host publication2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
EditorsAlois Knoll
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1718-1724
Number of pages7
ISBN (Electronic)9781479999941, 9781479999934
ISBN (Print)9781479999958
DOIs
Publication statusPublished - 17 Dec 2015
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2015 - Hamburg, Germany
Duration: 28 Sep 20152 Oct 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Abbreviated titleIROS 2015
CountryGermany
CityHamburg
Period28/09/152/10/15

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