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Biologically inspired damage tolerance in braided pneumatic muscle actuators

Davis, ST and Caldwell, DG 2012, 'Biologically inspired damage tolerance in braided pneumatic muscle actuators' , Journal of Intelligent Material Systems and Structures, 23 (3) , pp. 309-321.

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Abstract

As the operation of robotic systems moves away from solely manufacturing environments to arenas where they must operate alongside humans, so the essential characteristics of their design has transformed. A move from traditional robot designs to more inherently safe concepts is required. Studying biological systems to determine how they achieve safe interactions is one approach being used. This then seeks to mimic the ingredients that make this interaction safe in robotics systems. This is often achieved through softness both in terms of a soft fleshy external covering and through motor systems that introduce joint compliance for softer physical Human-Robot Interaction (pHRI). This has led to the development of new actuators with performance characteristics that at least on a macroscopic level try to emulate the function of organic muscle. One of the most promising among these is the pneumatic Muscle Actuator (pMA). However, as with organic muscle, these soft actuators are more susceptible to damage than many traditional actuators. Whilst organic muscle can regenerate and recover, artificial systems do not possess this ability. This article analyzes how organic muscle is able to operate even after extreme trauma and shows how functionally similar techniques can be used with pMAs.

Item Type: Article
Themes: Subjects outside of the University Themes
Schools: Colleges and Schools > College of Science & Technology > School of Computing, Science and Engineering > Autonomous Systems and Advanced Robotics Research Centre
Colleges and Schools > College of Science & Technology > School of Computing, Science and Engineering
Journal or Publication Title: Journal of Intelligent Material Systems and Structures
Publisher: SAGE Publications
Refereed: Yes
ISSN: 1045-389X
Depositing User: ST Davis
Date Deposited: 22 Aug 2012 15:16
Last Modified: 17 Sep 2013 11:57
URI: http://usir.salford.ac.uk/id/eprint/23140

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