Use of McKibben Muscle in a Haptic Interface

McKibben Artificial Muscle Actuators:

The McKibben artificial muscle is a pneumatic actuator whose properties include a very high force to weight ratio. This characteristic makes it very attractive for a wide range of applications such as mobile robots and prosthetic appliances for the disabled. In this paper we present a model that includes a non-linear, Mooney-Rivlin mathematical description of the actuator’s internal bladder. Ex...

Simulation of the Admittance Control Based Haptic Interface Device

Fatigue characteristics of McKibben artificial muscle actuators

The McKibben artificial muscle is a pneumatic actuator whose properties include a very high force to weight ratio. This characteristic makes it very attractive for a wide range of applications such as mobile robots and prosthetic appliances for the disabled. Typical applications often require a significant number of repeated contractions and extensions or cycles of the actuator. This repeated a...

Strings: A Haptic Interface

This paper presents my attempt to design an installation that investigates the bi-directional relation of affect we share with our environment. The focus is on the design of an innovative fabric prototype that presents a range of textural qualities to trigger bodily expressions, and which is also capable of perceiving such expressions itself in a tangible manner without the use of distant modes...

simulation of the admittance control based haptic interface device

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