Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems

Area of Science:

• Robotics
• Biomedical Engineering
• Mechanical Engineering

Background:

• Pneumatic muscle actuators are widely used in robotics.
• Traditional actuators face limitations in force capacity and energy efficiency.

Purpose of the Study:

• To introduce a novel double-acting (DA) sleeve muscle actuator.
• To enhance force capacity and energy efficiency in muscle-like actuators.
• To enable bidirectional actuation for simplified robotic system design.

Main Methods:

• Development of a DA sleeve muscle actuator with a central insert.
• Incorporation of an additional chamber within the insert for extension force generation.
• Design, fabrication, and experimental testing of a prototype actuator.

Main Results:

• The DA sleeve muscle actuator demonstrated consistent force capacity increase across its range of motion.
• A significant decrease in energy consumption was observed during operation.
• The actuator exhibited unique bidirectional actuation capabilities, including extension force generation.

Conclusions:

• The DA sleeve muscle actuator offers superior performance compared to traditional pneumatic muscles.
• The bidirectional actuation capability simplifies the design of robotic systems, particularly for human assistance.
• This novel actuator holds significant potential for advancing biologically-inspired and biomedical robotics.