Development of Bending Artificial McKibben Muscle

McKibben artificial muscle has attracted attention in Robotics studies because of its similar characteristics with human muscles and its high power-weight ratio. McKibben muscles have the advantage in terms of safety due to its soft property especially in the field of rehabilitation robotics where human-robot interaction is more important. Furthermore the external loads on human body can be minimized. In this study, by changing the structure of McKibben muscle, it was provided that McKibben muscle was bended rather than shortened when compressed air was supplied. By using sensors, the relationship between input air pressure, bending angle and generated force was shown.