4.2 Article

Force and deformation transmission characteristics of a compliant tendon-sheath actuation system based on Hill-type muscle model

Publisher

SAGE PUBLICATIONS LTD
DOI: 10.1177/0954411919847052

Keywords

Artificial muscle; Hill-type muscle model; actuator; compliant tendon-sheath system; transmission characteristics

Funding

  1. National Natural Science Foundation of China [51705240]
  2. China Postdoctoral Science Foundation [2018M640480]
  3. Natural Science Foundation of Jiangsu Province [BK20170783]
  4. Postgraduate Research & Practice Innovation Program of Jiangsu Province [KYCX18_0257]

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Artificial muscle is a kind of transmission actuator widely used in rehabilitation robots and wearable devices. However, there are some restrictions on the usage of these artificial muscles, including the short stroke length, complex structure, special power sources, and high nonlinear characteristics. Inspired by Hill-type muscle model, in this article, a new kind of artificial muscle using tendon-sheath and compliant springs is proposed to perform muscle-like characteristics. Force and deformation transmission models are proposed and validated by simulations and experiments. The experimental and simulation output results show nice goodness-of-fit and the R-square values are 0.9876 and 0.9046, respectively. Moreover, experiments are carried out in groups to analyze the transmission characteristics using different parameters, including variations of series springs, velocities, tendon diameters, and bending angles. The best R-square value of force-elongation curve and fitness curve could reach 0.9845, which indicates that the transmission model of the compliant artificial muscle can be used to express the transmission characteristics of the skeleton muscles.

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