CN110561406B - Bionic person-oriented artificial muscle bidirectional driving mechanism - Google Patents

Bionic person-oriented artificial muscle bidirectional driving mechanism Download PDF

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CN110561406B
CN110561406B CN201910819268.0A CN201910819268A CN110561406B CN 110561406 B CN110561406 B CN 110561406B CN 201910819268 A CN201910819268 A CN 201910819268A CN 110561406 B CN110561406 B CN 110561406B
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driving mechanism
air
bin
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piston
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CN110561406A (en
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杜广龙
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South China University of Technology SCUT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies

Abstract

The invention provides a bionic person-oriented artificial muscle bidirectional driving mechanism which is divided into a linear type driving mechanism and a U-shaped driving mechanism; the driving mechanism comprises an external motor, a gas bin, a piston, a gear, a rack, a movable metal strip and a rubber strip. When the pneumatic muscle training device works, the external motor is used for controlling the air pressure at two sides of the air bin, and the air pressure difference between the air bin and the external environment is utilized to enable pneumatic muscle connected with the driving mechanism to move; pneumatic muscles drive the connected components to move the connected components; when the air pressure in the air bin is reduced, the pneumatic muscle generates tension; when the air pressure in the gas cabin is close to the outside, the gas cabin is in a relaxed state; as air pressure increases, pneumatic muscles can produce thrust. The invention directly controls the external motor to ensure that the bionic muscle has high-speed response speed and can accurately control the driving force. Two different types of drive mechanisms are suitable for different positions of a bionic person. The invention can be provided with an external motor according to the required power and has high flexibility.

Description

Bionic person-oriented artificial muscle bidirectional driving mechanism
Technical Field
The invention belongs to the field of robots, and particularly relates to an artificial muscle bidirectional driving mechanism for a bionic person.
Background
The hydraulic principle has been used to develop a myriad of devices requiring either pushing or pulling force. These are typically based on rigid hydraulic cylinders and pistons. In recent years, push and pull devices have been developed that aim to mimic the way muscle tissue behaves and the texture. Therefore, there is now a class of devices commonly referred to as "muscles".
Artificial muscles such as the "McKibben muscle" of washington university are based on pneumatic principles. Closely related to pneumatic muscles are those based on hydraulic pressure. A significant similarity is that motion is due to expansion of the device components caused by fluid pressure (air or liquid). In fact, many of the artificial muscles in these studies may be suitable for pneumatic or hydraulic applications. At the same time, these devices are also subject to some disadvantages, either jointly or individually. Pneumatic muscles, also known as Payuter (US patent No. US 4784042), represent devices that require connection to external support devices, such as air compressors, hydraulic pumps and fluid reservoirs. These external support devices are often bulky devices that are not suitable for providing a driving force for a bionic person. Furthermore, these devices can only apply force in one direction and, as such, can only apply tension.
The hydraulic device of Horvath (U.S. Pat. No. 4,4958705) does not require an external reservoir. The pneumatic device of Rodriguez (U.S. patent No. US 5800561) eliminates the need for a compressor by using a canister to compress air. The amount used depends on the size of the tank and the pressure limitations. However, neither device provides inherent cushioning to any soft tissue that they may contact. Thus, there is a need for a self-sufficient artificial muscle that can apply sufficient force to drive a suitable device or prosthetic device. That is, no artificial muscles are required to be connected to external support devices, such as the air compressor and the reservoir. This is desirable if the artificial muscle can be directed to apply force in more than one direction; that is, the force applied by the artificial muscle may be a pushing force or a pulling force, as desired.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a bionic human-oriented artificial muscle bidirectional driving mechanism.
The purpose of the invention is realized by at least one of the following technical solutions.
A bionic-person-oriented artificial muscle bidirectional driving mechanism comprises a linear type driving mechanism and a U-shaped driving mechanism; the driving mechanism comprises an external motor, a gas bin, a piston, a gear, a rack, a movable metal strip and a rubber strip;
for the linear type driving mechanism, a piston is arranged in a gas cabin, a rack is arranged outside the gas cabin, the piston is connected with a movable metal strip, the movable metal strip is connected with the rack, and the periphery of the movable metal strip is sealed by a rubber strip to ensure that the gas cabin is not air-tight; the external motor is provided with a gear which is meshed with the rack, and the external motor 1 is driven by the gear and the rack;
for the U-shaped driving mechanism, the piston is arranged in the gas bin, the gear is arranged outside the gas bin, the piston is connected with the movable metal strip, the movable metal strip is connected with the gear, the periphery of the movable metal strip is sealed by the rubber strip to ensure that the gas bin is not air-tight, and the external motor directly drives the gear.
Furthermore, the cross section of the movable metal strip is of a cross structure, the two sides of the cross structure play a role in air tightness, the upper end and the lower end of the cross structure play a role in connection, and the rubber strips are positioned on the two sides of the upper end and the lower end of the movable metal strip; the wall of the gas cabin is provided with a groove with the cross section matched with the shape of the cross section of the movable metal strip, and the groove is used for accommodating the movable metal strip.
Furthermore, when the pneumatic muscle training device works, an external motor is used for driving the piston to move to control the air pressure on two sides of the air bin, the air bin is directly connected with pneumatic muscles through a rubber hose, and the pneumatic muscles connected with the air bin move by utilizing the air pressure difference between the air bin and the external environment; the pneumatic muscle drives the connected artificial skeleton to move the connected artificial skeleton; when the air pressure in the air bin is reduced, the pneumatic muscle generates tension; when the air pressure in the gas cabin is close to the outside, the gas cabin is in a relaxed state; pneumatic muscles can produce thrust as air pressure increases.
Further, suitable gases for use in the gas silo include, but are not limited to, air, nitrogen.
Further, when the external motor drives, the piston is driven to move in the gas bin, and the gas bin is compressed and expanded, so that the pulling force and the pushing force are provided at the same time, and the capability of artificial muscles is enhanced;
when thrust is generated, the initial air pressure in the air bin is assumed to be P 0 Volume is V 0 Inflating in the time delta t, the volume change of the inflated air pressure cabin body is delta V, and the pressure intensity P after inflating c Comprises the following steps:
Figure BDA0002187067520000031
suppose the inner radius of the gas bin is r 0 Thrust force F applied to the piston c Comprises the following steps:
F c ＝P c ·S；
wherein
Figure BDA0002187067520000032
Substituting into the formula can obtain:
Figure BDA0002187067520000033
when the pulling force is generated, the initial air pressure in the air bin is assumed to be P 0 Volume is V 0 The air is exhausted inwards within the time delta t, the volume of the air pressure cabin after the air exhaust is completed is changed into delta V, and the pressure intensity P after the air exhaust is completed d Comprises the following steps:
Figure BDA0002187067520000034
suppose the inner radius of the gas bin is r 0 Force F applied to the piston when tension is generated d Comprises the following steps:
F d ＝P d ·S:
wherein
Figure BDA0002187067520000035
Substituting into the formula can obtain:
Figure BDA0002187067520000036
the initial pressure, i.e. the internal pressure in the relaxed state, the internal pressure in the equilibrium state after inflation or evacuation is equal to the ambient atmospheric pressure, i.e. P 0 ＝P c ＝P d ＝P a In which P is a Is at ambient atmospheric pressure.
Further, the driving mechanism accurately controls the driving force; in the equilibrium state, the distance the piston is displaced depends only on the change in volume, i.e. the displacement distance d is equal to:
Figure BDA0002187067520000041
the power provided is accurately controlled according to the distance of movement.
Further, under the realistic condition of considering the non-linear change caused by the friction force and the deformation of the device, the non-linear relation between the distance and the force is expressed as follows:
Figure BDA0002187067520000042
wherein r represents the influence caused by nonlinear change, and is irregular non-white noise and is approximated by a neural network.
Furthermore, a gas bin of the linear type driving mechanism is a straight cylindrical pipe, the gas bin is directly connected with pneumatic muscles through a rubber hose, and an external motor drives a piston through a gear and a rack; under the conditions of relaxation and no force application, the piston of the gas bin is positioned in the center of the straight pipe and driven by an external motor, and the piston moves along a straight line; the linear driving mechanism is suitable for being placed in the long joint of the bionic person.
Furthermore, a gas bin of the U-shaped driving mechanism is a U-shaped pipe, the gas bin in the driving mechanism is directly connected with pneumatic muscles through a rubber hose, and an external motor is directly connected with a piston through a gear; under the conditions of relaxation and no force application, the piston of the gas bin is positioned in the center of the U-shaped pipe and is directly driven by an external motor, and the piston moves along the circumference; the U-shaped driving mechanism is suitable for being placed in the trunk or the pelvis of the bionic person.
Compared with the prior art, the invention has the following advantages and effects:
1. the invention directly controls the external motor to enable the bionic muscle to have high-speed response speed.
2. The present invention directly controls the external motor so that the power can be precisely controlled.
3. Two different types of drive mechanisms are suitable for different positions of a bionic person.
4. The invention can be provided with an external motor according to the required power, and has high flexibility.
Drawings
Fig. 1 is a schematic structural view of a linear driving mechanism in an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a U-shaped driving mechanism in the embodiment of the invention.
FIG. 3 is a schematic view of the linear drive mechanism of the embodiment of the present invention.
Fig. 4 is a schematic diagram of the operation of the U-shaped driving mechanism in the embodiment of the invention.
FIG. 5 is a schematic cross-sectional view of a U-shaped drive mechanism in an embodiment of the invention.
Fig. 6 is a cross-sectional view of a linear drive mechanism in an embodiment of the invention.
FIG. 7 is a cross-sectional view of a U-shaped drive mechanism in an embodiment of the present invention.
Detailed Description
The following embodiments are described in further detail with reference to the following examples, but the embodiments of the present invention are not limited thereto, and those skilled in the art can realize or understand the embodiments without specific details.
A bionic-person-oriented artificial muscle bidirectional driving mechanism comprises a linear type driving mechanism and a U-shaped driving mechanism; the driving mechanism comprises an external motor 1, a gas bin 2, a piston 3, a gear 4, a rack 5, a movable metal strip 7 and a rubber strip 8;
as shown in fig. 1 and fig. 6, for the linear driving mechanism, the piston 3 is inside the gas cabin 2, the rack 5 is outside the gas cabin 2, the piston 3 is connected with the movable metal strip 7, the movable metal strip 7 is connected with the rack 5, and the periphery of the movable metal strip 7 is sealed by the rubber strip 8 to ensure that the gas cabin 2 is airtight; the external motor 1 is provided with a gear 4, the gear 4 is meshed with a rack 5, and the external motor 1 is driven by the gear 4 and the rack 5;
as shown in fig. 2 and 5, for the U-shaped driving mechanism, the piston 3 is inside the gas cabin 2, the gear 4 is outside the gas cabin 2, the piston 3 is connected with the movable metal strip 7, the movable metal strip 7 is connected with the gear 4, the periphery of the movable metal strip 7 is sealed by the rubber strip 8 to ensure that the gas cabin 2 is airtight, and the external motor 1 directly drives the gear 4.
Further, as shown in fig. 5, 6 and 7, the cross section of the movable metal strip 7 is a cross structure, two sides of the cross structure play a role in air tightness and the upper and lower sides of the cross structure play a role in connection, and the rubber strips 8 are positioned on the upper, lower and two sides of the movable metal strip 7; the wall of the gas silo 2 has a groove with a cross-section matching the cross-sectional shape of the moving metal strip 7 for receiving the moving metal strip 7.
Further, as shown in fig. 3 and 4, when the driving mechanism works, the external motor 1 is used for driving the piston 3 to move to control the air pressure at two sides of the air bin 2, the air bin 2 is directly connected with the pneumatic muscle 6 through the rubber hose, and the pneumatic muscle 6 connected with the air bin 2 moves by utilizing the air pressure difference between the air bin 2 and the external environment; the pneumatic muscle 6 drives the connected artificial skeleton to move the connected artificial skeleton; when the air pressure in the air bin 2 is reduced, the pneumatic muscle 6 generates tension; when the air pressure in the gas bin 2 is close to the outside, the gas bin is in a relaxed state; when the air pressure increases, the pneumatic muscle 6 can generate a thrust.
Further, suitable gases for use with gas cartridge 2 include, but are not limited to, air, nitrogen.
Further, when the external motor 1 is driven, the piston 3 is driven to move in the gas bin 2, and the gas bin 2 is compressed and expanded, so that the pulling force and the pushing force are provided at the same time, and the capability of the artificial muscle 6 is enhanced;
when thrust is generated, the initial pressure in the gas cabin 2 is assumed to be P 0 Volume is V 0 The air is inflated within the time delta t, the volume change of the air pressure cabin 2 after the air inflation is changed into delta V, and the pressure intensity P after the air inflation is realized c Comprises the following steps:
Figure BDA0002187067520000061
suppose the inner radius of the gas bin 2 is r 0 The piston 3 is subjected to a force F when thrust is generated c Comprises the following steps:
F c ＝P c ·S；
wherein
Figure BDA0002187067520000071
Substituting into the formula can obtain:
Figure BDA0002187067520000072
when the pulling force is generated, the initial gas pressure in the gas bin 2 is assumed to be P 0 Volume is V 0 The air is exhausted inwards within the time delta t, the volume change of the air pressure cabin 2 after the air exhaust is completed is delta V, and the pressure intensity P after the air exhaust is completed d Comprises the following steps:
Figure BDA0002187067520000073
suppose the inner radius of the gas bin 2 is r 0 The piston 3 is stressed by a force F when generating a pulling force d Comprises the following steps:
F d ＝P d ·S:
wherein
Figure BDA0002187067520000074
Substituting into the formula can obtain:
Figure BDA0002187067520000075
the initial pressure, i.e. the internal pressure in the relaxed state, the internal pressure in the equilibrium state after inflation or evacuation is equal to the ambient atmospheric pressure, i.e. P 0 ＝P c ＝P d ＝P a In which P is a Is at ambient atmospheric pressure.
Further, the driving mechanism accurately controls the driving force; in the state of equilibrium, the piston 3 is displaced by a distance that depends only on the change in volume, i.e. the displacement distance d is equal to:
Figure BDA0002187067520000076
the power provided is precisely controlled according to the moving distance.
Further, under the realistic conditions of considering the friction force and the nonlinear change caused by the deformation of the device, the nonlinear relation between the distance and the force is expressed as follows:
Figure BDA0002187067520000077
wherein r represents the influence caused by nonlinear change, and is irregular non-white noise and is approximated by a neural network.
Further, as shown in fig. 3, the gas cabin 2 of the linear driving mechanism is a straight cylindrical pipe, the gas cabin 2 is directly connected with the pneumatic muscle 6 through a rubber hose, and the external motor 1 drives the piston 3 through the gear 4 and the rack 5; under the condition of relaxation and no force application, the piston 3 of the gas bin 2 is positioned in the center of the straight pipe and is driven by the external motor 1, and the piston 3 moves along a straight line; the linear driving mechanism is suitable for being placed in the long joint of a bionic person.
Further, the gas bin 2 of the U-shaped driving mechanism is a U-shaped pipe, the gas bin 2 in the driving mechanism is directly connected with a pneumatic muscle 6 through a rubber hose, and an external motor 1 is directly connected with a piston 3 through a gear 4; under the conditions of relaxation and no force application, a piston 3 of the gas bin 2 is positioned in the center of the U-shaped pipe and is directly driven by an external motor 1, and the piston 3 moves along the circumference; the U-shaped driving mechanism is suitable for being placed in the trunk or the pelvis position of the bionic person.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (8)

1. The bionic human-oriented artificial muscle bidirectional driving mechanism is characterized by comprising a linear type driving mechanism and a U-shaped driving mechanism; the driving mechanism comprises an external motor, a gas bin, a piston, a gear, a rack, a movable metal strip and a rubber strip;
for the linear type driving mechanism, a piston is arranged in a gas bin, a rack is arranged outside the gas bin, the piston is connected with a movable metal strip, the movable metal strip is connected with the rack, and the periphery of the movable metal strip is sealed by a rubber strip to ensure that the gas bin is airtight; the external motor is provided with a gear which is meshed with the rack, and the external motor is driven by the gear and the rack;
for the U-shaped driving mechanism, a piston is arranged in a gas bin, a gear is arranged outside the gas bin, the piston is connected with a movable metal strip, the movable metal strip is connected with the gear, the periphery of the movable metal strip is sealed by a rubber strip to ensure that the gas bin is not air-tight, and an external motor directly drives the gear;
when the pneumatic muscle training device works, an external motor is used for driving the piston to move to control the air pressure at two sides of the air bin, the air bin is directly connected with pneumatic muscles through the rubber hose, and the pneumatic muscles connected with the air bin move by utilizing the air pressure difference between the air bin and the external environment; the pneumatic muscle drives the connected artificial skeleton to move the connected artificial skeleton; when the air pressure in the air bin is reduced, the pneumatic muscle generates tension; when the air pressure in the gas cabin is close to the outside, the gas cabin is in a relaxed state; pneumatic muscles can produce thrust as air pressure increases.
2. The bionic human-oriented artificial muscle bidirectional driving mechanism as claimed in claim 1, wherein the cross section of the movable metal strip is in a cross structure, two sides of the movable metal strip play a role in air tightness, and the upper end and the lower end of the movable metal strip play a role in connection; the rubber strips are positioned on two sides of the upper end and the lower end of the movable metal strip; the wall of the gas cabin is provided with a groove with the cross section matched with the shape of the cross section of the movable metal strip, and the groove is used for accommodating the movable metal strip.
3. The bionic human-oriented artificial muscle bidirectional driving mechanism as claimed in claim 1, wherein when the external motor drives, the driving piston moves in the gas chamber, the gas chamber is compressed and expanded, thereby providing pulling force and pushing force at the same time to enhance the capability of the artificial muscle;
when thrust is generated, the initial air pressure in the gas cabin is assumed to be P 0 Volume is V 0 Inflating air within the time delta t, the volume change of the inflated air pressure cabin is delta V, and the pressure P after inflation c Comprises the following steps:
Figure FDA0003803254860000021
suppose the inner radius of the gas bin is r 0 Thrust force F applied to the piston c Comprises the following steps:
F c ＝P c ·S；
wherein
Figure FDA0003803254860000022
Substituting into the formula can obtain:
Figure FDA0003803254860000023
when the pulling force is generated, the initial air pressure in the air bin is assumed to be P 0 Volume is V 0 The air is exhausted inwards within the time delta t, the volume of the air pressure cabin after the air exhaust is completed is changed into delta V, and the pressure intensity P after the air exhaust is completed d Comprises the following steps:
Figure FDA0003803254860000024
suppose the inner radius of the gas bin is r 0 Force F applied to the piston when tension is generated d Comprises the following steps:
F d ＝P d ·S；
wherein
Figure FDA0003803254860000025
Substituting into the formula can obtain:
Figure FDA0003803254860000026
the initial pressure, i.e. the internal pressure in the relaxed state, the internal pressure in the equilibrium state after inflation or evacuation is equal to the ambient atmospheric pressure, i.e. P 0 ＝P c ＝P d ＝P a In which P is a Is at ambient atmospheric pressure.
4. The bionic human-oriented artificial muscle bidirectional driving mechanism as claimed in claim 1, wherein the driving mechanism precisely controls the driving force; in the equilibrium state, the distance the piston is displaced depends only on the change in volume, i.e. the displacement distance d is equal to:
Figure FDA0003803254860000031
the power provided is accurately controlled according to the distance of movement.
5. A bionic human-oriented artificial muscle bidirectional driving mechanism as claimed in claim 3, wherein under the realistic conditions of considering the nonlinear changes caused by the friction force and the deformation of the device, the nonlinear relation between the distance and the force is expressed as follows:
Figure FDA0003803254860000032
wherein r represents the influence of nonlinear variation, and r is irregular non-white noise.
6. The bionic human-oriented artificial muscle bidirectional driving mechanism as claimed in claim 1, wherein the gas chamber of the linear driving mechanism is a straight cylindrical pipe, the gas chamber is directly connected with the pneumatic muscle through a rubber hose, and an external motor drives the piston through a gear and a rack; under the conditions of relaxation and no force application, the piston of the gas bin is positioned in the center of the straight cylinder pipe and is driven by an external motor, and the piston moves along a straight line; the linear driving mechanism is suitable for being placed in the long joint of the bionic person.
7. The bionic human-oriented artificial muscle bidirectional driving mechanism as claimed in claim 1, wherein the gas bin of the U-shaped driving mechanism is a U-shaped tube, the gas bin in the driving mechanism is directly connected with pneumatic muscles through a rubber hose, and an external motor is directly connected with a piston through a gear; under the conditions of relaxation and no force application, the piston of the gas bin is positioned in the center of the U-shaped pipe and is directly driven by an external motor, and the piston moves along the circumference; the U-shaped driving mechanism is suitable for being placed in the trunk or the pelvis position of the bionic person.
8. The bionic human-oriented artificial muscle bidirectional driving mechanism as claimed in claim 1, wherein the gas used by the suitable gas chamber includes but is not limited to air and nitrogen.
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Citations (10)

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Publication number Priority date Publication date Assignee Title
EP0314668A2 (en) * 1987-10-30 1989-05-03 Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-KG Hydraulic control
JP2009281480A (en) * 2008-05-21 2009-12-03 Panasonic Corp Gas pressure cylinder device and its control method
CN101870111A (en) * 2010-04-28 2010-10-27 青岛恩威机器人科技有限公司 Joint driving device of robot
CN102809801A (en) * 2012-08-10 2012-12-05 中国科学院国家天文台南京天文光学技术研究所 Pneumatic type support system of primary mirror of astronomical telescope
CN103895030A (en) * 2014-03-21 2014-07-02 上海大学 Single-degree-of-freedom joint mechanical driven by two pneumatic artificial muscle assemblies
CN204075813U (en) * 2014-07-02 2015-01-07 苏州大学 The two-sided four station clamping devices of a kind of pair of pneumatic muscle
CN104265729A (en) * 2014-10-08 2015-01-07 重庆豪能兴富同步器有限公司 Bidirectional-driving double-shaped cylinder
CN105114397A (en) * 2015-09-06 2015-12-02 哈尔滨工业大学 Fluid artificial muscle driving and controlling system
CN106489030A (en) * 2014-09-12 2017-03-08 株式会社国际电气通信基础技术研究所 Actuator devices, power-assisted robot and anthropomorphic robot
CN109760038A (en) * 2019-01-18 2019-05-17 天津大学 A kind of hydraulic-driven flexibility artificial-muscle

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0314668A2 (en) * 1987-10-30 1989-05-03 Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-KG Hydraulic control
JP2009281480A (en) * 2008-05-21 2009-12-03 Panasonic Corp Gas pressure cylinder device and its control method
CN101870111A (en) * 2010-04-28 2010-10-27 青岛恩威机器人科技有限公司 Joint driving device of robot
CN102809801A (en) * 2012-08-10 2012-12-05 中国科学院国家天文台南京天文光学技术研究所 Pneumatic type support system of primary mirror of astronomical telescope
CN103895030A (en) * 2014-03-21 2014-07-02 上海大学 Single-degree-of-freedom joint mechanical driven by two pneumatic artificial muscle assemblies
CN204075813U (en) * 2014-07-02 2015-01-07 苏州大学 The two-sided four station clamping devices of a kind of pair of pneumatic muscle
CN106489030A (en) * 2014-09-12 2017-03-08 株式会社国际电气通信基础技术研究所 Actuator devices, power-assisted robot and anthropomorphic robot
CN104265729A (en) * 2014-10-08 2015-01-07 重庆豪能兴富同步器有限公司 Bidirectional-driving double-shaped cylinder
CN105114397A (en) * 2015-09-06 2015-12-02 哈尔滨工业大学 Fluid artificial muscle driving and controlling system
CN109760038A (en) * 2019-01-18 2019-05-17 天津大学 A kind of hydraulic-driven flexibility artificial-muscle

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