McKibben Muscle With Elastic Thread Embedded in Parallel Extending Range of Motion of Muscle-Driven Robots

Material type: 文書・図像類

Author: 小林, 亮太ほか

Publisher: IEEE

Publication date: 2025-01

Material Format: Paper

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Note (General)：: The McKibben muscle, widely employed in antagonistic drive robots, exhibits approximately 20% contraction under pneumatic pressure but lacks crucial p...

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Material Type: 文書・図像類
Title: McKibben Muscle With Elastic Thread Embedded in Parallel Extending Range of Motion of Muscle-Driven Robots
Author/Editor: 小林, 亮太
Kobayashi, Ryota
田中, 翔真
Tanaka, Shoma
難波江, 裕之
Nabae, Hiroyuki
遠藤, 玄
Endo, Gen
鈴森, 康一
Suzumori, Koichi
Author Heading: 小林, 亮太
Kobayashi, Ryota
田中, 翔真
Tanaka, Shoma
難波江, 裕之
Nabae, Hiroyuki
遠藤, 玄
Endo, Gen
鈴森, 康一
Suzumori, Koichi
Publication, Distribution, etc.: IEEE
Publication Date: 2025-01
Publication Date (W3CDTF): 2025-01
Periodical title: IEEE Robotics and Automation Letters
ISSN (Periodical Title): ISSN : 2377-3766
Text Language Code: eng
Target Audience: 一般
Note (General): The McKibben muscle, widely employed in antagonistic drive robots, exhibits approximately 20% contraction under pneumatic pressure but lacks crucial passive extensibility. Previous attempts to achieve passive extensibility resulted in reduced overall contraction ratios due to the series connection of elongation and contraction sections. This study proposes a novel artificial muscle design that achieves extension through external force by arranging extensible and contractile components in parallel. The proposed design incorporates a composite thread consisting of an elastic thread and an inextensible thread connected in series, arranged parallel to a conventional McKibben muscle. This configuration yields an artificial muscle capable of approximately 16% contraction and over 40% extension under external force when relaxed. The simplicity of this design facilitates straightforward integration into robotic systems. To demonstrate the efficacy of the proposed artificial muscle, we applied it to a tensegrity robot, exemplifying an antagonistic drive system. This application showcases the potential of our design to enhance the performance and versatility of soft robotic systems.
identifier:oai:t2r2.star.titech.ac.jp:50723405
Related Material (DOI): 10.1109/LRA.2025.3528662
Data Provider (Database): 国立情報学研究所 : 学術機関リポジトリデータベース（IRDB）（機関リポジトリ）
https://irdb.nii.ac.jp
Original Data Provider (Database): 東京科学大学 : 東京科学大学リサーチリポジトリ(T2R2)