Hollow Pneumatic Artificial Muscles with Air Cylinder: Improvement for compatibility of high durability and high efficiency

Pneumatic soft actuators has been developed to improved characteristics, such as operating flexibility, low weight, and high output etc. However, the application range of these artificial muscles has been limited by their fragility, the size of pneumatic source and the system size required to control the position and force. Therefore, this research proposes hollow artificial muscles with air cylinder that is high durability and driven with less air. Furthermore, this actuator control both stiffness and displacement independently as single mechanical element.