Development and performance analysis of the flexible pneumatic artificial muscle

Abstract

The excellent performance, such as lightweight, consistent, high power output, of pneumatic artificial muscles makes them attractive for use in mobile robots and prosthetic appliances. In this paper, we make a kind of artificial muscle only by using Kevlar fibers and silicon rubber, which is called flexible pneumatic artificial muscle (FPAM). Their flexible nature permits them to be used without rigid joints. Without these joints, however, sealing FPAM is challenging. We make the reinforcing braid of FPAM soft by weaving it from Kevlar fibers. The reinforcing fibers and the soft silicone rubber can be used to seal FPAM with the mutual cooperation between them, whereas other proposed self-sealing techniques rely on the addition of special rigid component, the technique presented in this paper can be implemented without additions of this kind. A self-sealing silicone tube is used in this new structure. The Pressure characteristics of FPAM and were compared with McKibben artificial muscles ones. The result shows that the contraction force of the new artificial muscle is slightly smaller than the McKibben artificial muscles. We also test the basic properties of silicone rubber. A set of experimental frequency response characteristics are also given in this paper. Due to there is no metal joint, the artificial muscle can be applied in a wider range of areas, such as wearable medical devices.