Modelling and characterization of a Soft Inverse Pneumatic Artificial Muscle

Abstract:
Pneumatic artificial muscles are some of the most famous linear actuators in bio-inspired robotics. In this study, improved manufacturing and modelling of a Soft Inverse Pneumatic Artificial Muscle (SIPAM) are presented. The proposed actuator is able to contract of nearly 70% while simultaneously applying a pulling force. The inverse actuation scheme consists in a muscle elongation upon pressurisation, followed by a passive contractile phase. Experimental tests were conducted to validate the proposed model. The results showed that our model is able to capture the SIPAM non-linear behaviours, and demonstrate that this artificial muscle can work at frequencies that are comparable to the ones of the natural muscle contraction.