Pneumatic artificial muscle-driven human-like joint research

pneumatic artificial muscles;  humanoid joints;  Joint angle

Mckibben pneumatic artificial muscle is a sports engine excited by air pressure, which can output sufficient pulling force and has a certain degree of compliance. A new robotic elbow joint was built, the joint structure evolved from the human elbow joint, driven by two Mckibben pneumatic artificial muscles set up against each other, the telescopic movement of the muscle pair caused the joint to rotate; The relationship between joint angle and artificial muscle contraction length, as well as several possible scenarios of maximum rotation angle, the maximum possible rotation angle is derived, the influence of joint structural parameters on the maximum rotation angle is discussed, and the robot joint and human joint are compared.