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Variable stiffness McKibben muscles with hydraulic and pneumatic operating modes

Xiang, Chaoqun, Giannaccini, ME, Theodoridis, T, Nefti-Meziani, S and Davis, ST 2016, 'Variable stiffness McKibben muscles with hydraulic and pneumatic operating modes' , Advanced Robotics, 30 (13) , pp. 889-899.

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Abstract

McKibben muscles have been shown to have improved stiffness characteristics when operating hydraulically. However, when operating pneumatically they are compliant and so have potential for safer physical Human Robot Interaction (pHRI). This paper presents a method for rapidly switching between pneumatic and hydraulic modes of operation without the need to remove all hydraulic fluid from the actuator. A compliant and potentially safe pneumatic mode is demonstrated and compared with a much stiffer hydraulic mode. The paper also explores a combined pneumatic/hydraulic mode of operation which allows both the position of the joint and the speed at which it reacts to a disturbance force to be controlled.

Item Type: Article
Schools: Schools > School of Computing, Science and Engineering > Salford Innovation Research Centre (SIRC)
Journal or Publication Title: Advanced Robotics
Publisher: Taylor & Francis
ISSN: 0169-1864
Related URLs:
Funders: Engineering and Physical Sciences Research Council (EPSRC), This work was funded by the EPSRC Centre for Innovative Manufacturing in Intelligent Automation.
Depositing User: ST Davis
Date Deposited: 08 Feb 2016 16:41
Last Modified: 11 Nov 2016 11:18
URI: http://usir.salford.ac.uk/id/eprint/37952

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