A circular pneumatic muscle actuator (CPMA) inspired by human skeletal muscles

Al-Ibadi, A ORCID: https://orcid.org/0000-0002-0779-8217, Nefti-Meziani, S and Davis, ST ORCID: https://orcid.org/0000-0002-4365-5619 2018, A circular pneumatic muscle actuator (CPMA) inspired by human skeletal muscles , in: RoboSoft 2018, 24-28 April 2018, Livorno, Italy.

[img] PDF (Authors accepted manuscript) - Accepted Version
Restricted to Repository staff only

Download (882kB)

Abstract

This paper illustrates the design, implementation and kinematics of a novel circular pneumatic muscle actuator (CPMA), inspired by the skeletal muscles of a human. The variation of the inner diameter of this actuator is a unique feature. Furthermore, CPMA produces a radial force towards its centre by increasing the diameter of the actuator itself in addition to the reduction in the inner diameter. These performances make the presented actuator suitable to use in numerous applications. The grasping by a soft gripper is chosen as an application to design an efficient soft gripper by using single and multiple CPMAs.

Item Type: Conference or Workshop Item (Paper)
Additional Information: ISBN: 9781538645161
Schools: Schools > School of Computing, Science and Engineering > Salford Innovation Research Centre (SIRC)
Journal or Publication Title: 2018 IEEE International Conference on Soft Robotics (RoboSoft)
Publisher: IEEE
Related URLs:
Depositing User: Mr. Alaa Al-Ibadi
Date Deposited: 23 Feb 2018 09:24
Last Modified: 17 Feb 2019 18:18
URI: http://usir.salford.ac.uk/id/eprint/46124

Actions (login required)

Edit record (repository staff only) Edit record (repository staff only)

Downloads

Downloads per month over past year