Pneumatic Artificial Muscle Based on Novel Winding Method

This paper proposes a pneumatic artificial muscle based on novel winding method. By this method, the inflation of silicone tubes is transformed to contraction muscle, whereas expansion keeps one side i.e., actuator does not affect object close it. Hence great for wearable robots without squeezing user’s skin. Through necessary simplification, ratio model and force are proposed verified by experiments. The prototype has maximum 35.8% output 12.24 N with only 5 mm thickness. high compatibility proves it excellent be alternative robots.