Faculty, Staff and Student Publications
Language
English
Publication Date
10-8-2024
Journal
Proceedings of the National Academy of Sciences of the United States of America
DOI
10.1073/pnas.2412288121
PMID
39348536
PMCID
PMC11474079
PubMedCentral® Posted Date
9-30-2024
PubMedCentral® Full Text Version
Post-print
Abstract
Biomimetic actuation technologies with high muscle strokes, cycle rates, and work capacities are necessary for robotic systems. We present a muscle type that operates based on changes in muscle stiffness caused by volume expansion. This muscle is created by coiling a mechanically strong braid, in which an elastomer hollow tube is adhesively attached inside. We show that the muscle reversibly contracts by 47.3% when driven by an oscillating input air pressure of 120 kilopascals at 10 Hz. It generates a maximum power density of 3.0 W/g and demonstrates a mechanical contractile efficiency of 74%. The muscle's low-pressure operation allowed for portable, thermal pneumatical actuation. Moreover, the muscle demonstrated bipolar actuation, wherein internal pressure leads to muscle length expansion if the initial muscle length is compressed and contraction if the muscle is not compressed. Modeling indicates that muscle expansion significantly alters its stiffness, which causes muscle actuation. We demonstrate the utility of BCMs for fast running and climbing robots.
Keywords
Robotics, Muscle Contraction, Biomimetics, Muscle, Skeletal, Biomechanical Phenomena, Humans, Muscles, artificial muscle, thermal-pneumatic, variable stiffness, soft robotics
Published Open-Access
yes
Recommended Citation
Hu, Xinghao; Wang, Xiangyu; Wang, Jian; et al., "Fast, Variable Stiffness-Induced Braided Coiled Artificial Muscles" (2024). Faculty, Staff and Student Publications. 6727.
https://digitalcommons.library.tmc.edu/uthgsbs_docs/6727
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