Bio-Inspired Design of Artificial Striated Muscles Composed of Sarcomere-Like Contraction Units

Luiza Labazanova, Zeyu Wu, Zhengping Gu, David Navarro-Alarcon

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

Abstract

Biological muscles have always attracted robotics researchers due to their efficient capabilities in compliance, force generation, and mechanical work. Many groups are working on the development of artificial muscles, however, state-of-the-art methods still fall short in performance when compared with their biological counterpart. Muscles with high force output are mostly rigid, whereas traditional soft actuators take much space and are limited in strength and producing displacement. In this work, we aim to find a reasonable trade-off between these features by mimicking the striated structure of skeletal muscles. For that, we designed an artificial pneumatic myofibril composed of multiple contraction units that combine stretchable and inextensible materials. Varying the geometric parameters and the number of units in series provides flexible adjustment of the desired muscle operation. We derived a mathematical model that predicts the relationship between the input pneumatic pressure and the generated output force. A detailed experimental study is conducted to validate the performance of the proposed bio-inspired muscle.

Original languageEnglish
Title of host publication2021 20th International Conference on Advanced Robotics, ICAR 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages370-377
Number of pages8
ISBN (Electronic)9781665436847
DOIs
Publication statusPublished - 2021
Event20th International Conference on Advanced Robotics, ICAR 2021 - Ljubljana, Slovenia
Duration: 6 Dec 202110 Dec 2021

Publication series

Name2021 20th International Conference on Advanced Robotics, ICAR 2021

Conference

Conference20th International Conference on Advanced Robotics, ICAR 2021
Country/TerritorySlovenia
CityLjubljana
Period6/12/2110/12/21

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software

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