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 language | English |
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| Title of host publication | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015) |
| Editors | Alois Knoll |
| Place of Publication | Piscataway NJ USA |
| Publisher | IEEE, Institute of Electrical and Electronics Engineers |
| Pages | 1718-1724 |
| Number of pages | 7 |
| ISBN (Electronic) | 9781479999941, 9781479999934 |
| ISBN (Print) | 9781479999958 |
| DOIs | |
| Publication status | Published - 17 Dec 2015 |
| Externally published | Yes |
| Event | IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 - Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015 https://ieeexplore.ieee.org/xpl/conhome/7347169/proceeding (Proceedings) |
Publication series
| Name | IEEE International Conference on Intelligent Robots and Systems |
|---|---|
| Publisher | IEEE, Institute of Electrical and Electronics Engineers |
| ISSN (Print) | 2153-0858 |
| ISSN (Electronic) | 2153-0866 |
Conference
| Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 |
|---|---|
| Abbreviated title | IROS 2015 |
| Country/Territory | Germany |
| City | Hamburg |
| Period | 28/09/15 → 2/10/15 |
| Internet address |