The characteristics of McKibben muscle based on the pneumatic experiment system

The electropneumatic regulator is a key device in pneumatic experiment systems which provide compressed gas to McKibben muscles. The electropneumatic regulator structure is analyzed. The stiffness of the McKibben muscle is formulated based on both its force model and the electropneumatic regulator characteristics. The gas pressure transmission process in the whole pneumatic experiment system is investigated. A gas pressure transmission model based on the integrated pneumatic experiment system is established. An experiment is done to prove the model's validity. The results show that the electropneumatic regulator can stabilize its output gas pressure, the inner pressure of McKibben muscle does not vary when its length is changed by an outer force, and there is both a time delay and a rise in gas pressure when compressed air is input to McKibben muscle. The time delay comes from turning on the electropneumatic regulator valve, and the rise in press use corresponds with the filling process of the inner gas pressure in McKibben muscle. © ISAROB 2007.