Air Muscles

AIR MUSCLES 1

AIR MUSCLES

A SEMINAR REPORT

Submitted by

NITHIN.S 09428041 In partial fulfilment for the the award of degree Of

B TECH IN MECHANICAL ENGINEERING RAJADHANI INSTITUTE OF ENGINEERING AND TECHNOLOGY

KERALA UNIVERSITY NOVEMBER 2012

MECHANICAL DEPT. RIET, ATTINGAL

AIR MUSCLES 2

CERTIFICATE Ce!"#"e$ !%&! !%e 'e(")& e*+! e)!"!,e$ -AIR MUSCLES "' & /+)& /+)&#" #"$e $e e e+ +$ $ * *e* e*& &e$ e$ / NITH NITHIN IN.S .S 0942 094280 8041 41 ") *&! *&!"& "&,, #,#",(e)! +# e3"e(e)!' #+ !%e &&$ +# !%e B5Te% De6ee ") Me%&)"&, '!e&( +# !%e U)"7e'"! +# Ke&,& T%"7&)&)!%&*&(

P+#. K.V R&7ee)$&)

M. See M&%e'% M&%e' %

He&$ +# Me%&)"&, E)66

Seminar Coordinator

RIET A!!")6&,

RIET A!!")6&,


AIR MUSCLES 3

ACKNOLEDGEMENT

First First of all I thank thank the almighty almighty for for providin providing g me with the the strength strength and courag couragee to present the seminar. seminar. I avail avail this opportuni opportunity ty to express express my sincere sincere gratitude gratitude towards P+#. K.V engineering department, department, for permitting permitting me to conduct conduct R&7ee)$&), head of mechanical engineering the seminar. I also at the outset thank and express my profound gratitude to my seminar gui guide M.M&)+: of mechanica mechanicall engineeri engineering ng departmen departmentt for his inspirin inspiring g assistance assistance,, encouragement and useful guidance. I am also indebt indebted ed to all the the teaching teaching and and nonnon- teaching teaching staff staff of the departm department ent of mechanical engineering for their cooperation and suggestions, which is the spirit behind this report. Last but not the least, I wish to express my sincere thanks to all my friends for their goodwill and constructive ideas.


AIR MUSCLES 4

NITHIN.S

ABSTRACT

Air muscle is esseni!ll" ! r#$#ic !cu!#r %&ic& is re'l!cin( &e c#n)eni#n!l 'neum!ic c"lin*ers ! ! r!'i* '!ce. Due # &eir l#% 'r#*uci#n c#ss !n* )er" &i(& '#%er # %ei(& r!i#, !s &i(& !s 4++1, &e 're-erence -#r Air Muscles is incre!sin(. Air Muscles n* &u(e !''lic!i#ns in $i# r#$#ics !n* *e)el#'men #- -ull" -unci#n!l 'r#s&eic lim$s, &!)in( su'eri#r c#nr#llin( !s %ell !s -unci#n!l c!'!$iliies c#m'!re* %i& &e curren m#*els. T&is '!'er *iscusses Air Muscles in (ener!l, &eir c#nsruci#n, !n* 'rinci'le #- #'er!i#n, #'er!i#n!l c&!r!cerisics !n* !''lic!i#ns.


AIR MUSCLES /

CONTENTS

Page

Title

           

  

INTR0DUCTI0N HIST0R C0NSTRUCTI0N 0R5ING THE0RETICAL M0DEL ESTIMATI0N 07 7RICTI0NAL E77ECTS DNAMIC PR0PERTIES E8PERIMENTAL E77ECTS 0PERATI0NAL CHARACTERISTICS SPECI7ICATI0N 07 SHAD0 AIR MUSCLES DI77ERENCES 7R0M PNEUMATIC CLINDERS AD:ANTAGES 07 AIR MUSCLE DISAD:ANTAGES 07 AIR MUSCLE APPLICATI0NS HUMAN0ID R0;0TS ARTI7ICIAL LIM;S THE DE8TER0US HAND 7URTHER DE:EL0PMENTS C0NCLUSI0N RE7ERENCES


   6 1+ 13 14 1/ 1 19 16 16 21 22 22 23 24 2/ 2 29

AIR MUSCLES 

INTRODUCTION

R#$#ic !cu!#rs c#n)eni#n!ll" !re 'neum!ic #r &"*r!ulic *e)ices. T&e" &!)e m!n" in&eren *is!*)!n!(es lii$ili", &i(& s!-e" re?uiremens, !n* &i(& c#s #'er!i#n!l !s %ell !s c#nsruci#n!l ec. T&e se!rc& -#r !n !cu!#r %&ic& %#ul* s!is-" !ll &ese

re?uiremens

en*e*

in

Air

Muscles.

T&e"

!re

e!s"

#

m!nu-!cure, l#% c#s !n* c!n $e ine(r!e* %i& &um!n #'er!i#ns %i&#u !n" l!r(e sc!le s!-e" re?uiremens. 7ur&er m#re &e" #@er e>remel" &i(& '#%er # %ei(& r!i# #- !$#u 4++1. As ! c#m'!ris#n elecric m##rs #nl" #@er ! '#%er r!i#n #- 11. Air Muscles !re !ls# c!lle* Mc5i$$en !cu!#rs n!me* !-er &e rese!rc&er %&# *e)el#'e* i.

HISTORY

I %!s in 16/ &! R.H.G!"l#r* in)ene* ! 'neum!ic !cu!#r

%&ic&s


#ri(in!l

!''lic!i#ns

inclu*e*

!

*##r

#'enin(

AIR MUSCLES 9

!rr!n(emen !n* !n in*usri!l &#is. L!er in 16/6 B#se'&.L.Mc5i$$en *e)el#'e* Air Muscles. T&e s#urce #- ins'ir!i#n %!s &e &um!n muscle isel-, %&ic& %#ul* s%ell %&en ! -#rce &!s # $e !''lie*. T&e" %ere *e)el#'e* -#r use !s !n #r&#ic !''li!nce -#r '#li# '!iens. Clinic!l ri!ls %ere re!lis* in 16+s. T&ese muscles %ere !cu!ll" m!*e -r#m 'ure ru$$er l!e>, c#)ere* $" ! *#u$le &elic!l %e!)e $r!i* %&ic& %#ul* c#nr!c %&en e>'!n*e* r!*i!ll". T&is c#ul* !cu!ll" $e c#nsi*ere* !s ! $i#r#$#ic !cu!#r !s i #'er!es !lm#s simil!r # ! $i#l#(ic!l muscle.

Air Muscle Sc&em!ic Mc5i$$en M#*el

T&e curren -#rm !ir muscles %ere *e)el#'e* $" &e ;ri*(es#ne C#m'!n", -!m#us -#r is ires. T&e 'rim!r" m!eri!l %!s ru$$er i.e. &e inner u$e %!s m!*e -r#m ru$$er. Hence &ese !cu!#rs %ere c!lle* FRu$$eru!#rs. T&ese *e)el#'mens ##< 'l!ce !r#un* 16+s. L!er in 166+s S&!*#% R#$#ic C#m'!n" #- &e Unie* 5in(*#m $e(!n *e)el#'in( Air Muscles. T&ese !re &e m#s c#mm#nl"


AIR MUSCLES 

use* !ir muscles n#% !n* !re !ss#ci!e* %i& !lm#s !ll &um!n#i* r#$#ic !''lic!i#ns %&ic& %ere *e)el#'e* recenl". A'!r -r#m S&!*#% !n#&er c#m'!n" c!lle* T&e Merlin Hum!ni-#rm *e)el#'s !ir muscles -#r &e s!me !''lic!i#ns, !l&#u(& &eir *esi(n is s#me%&! *i@eren -r#m &e S&!*#% muscles.

CONSTRUCTION

T&e Air Muscle c#nsiss #- !n inner ru$$er u$e, %&ic& is #-en m!*e -r#m 'ure ru$$er l!e>. I is surr#un*e* $" ! $r!i*e* mes&.


AIR MUSCLES 6

Air muscle c#nsruci#n S&!*#% !ir muscle 3+mm

T&e &e!*er ! e!c& en* #- &e muscle c#nsiss #- !n Aluminium rin(, !n* ! Delrin 'l!sic $un(, %i& ! -em!le &re!*. T&is &re!* c!n $e use* !s ! me!ns #- !!c&men, !n* # !ll#% !ir in# #r #u #- &e muscle. T&e muscle is su''lie* %i& %# Delrin in(s !ls#.

WORKING


AIR MUSCLES 1+

T&e inner ru$$er u$e is in=!e* $" enerin( !ir ! ! 'ressure, usu!ll" limie* # 3./ $!r. T&e m#)emen #- &is u$e is c#nsr!ine* $" &e $r!i*. &en &e u$e (es in=!e* i e>'eriences ! l#n(iu*in!l c#nr!ci#n. T&is %#ul* cre!e ! 'ull ! $#& en*s #- &e u$e. Usu!ll" #ne en* #- &e u$e %ill $e !!c&e* # s#me%&ere s# &! -#rce c!n $e !''lie* -r#m #ne en*. T&is 'ull %&en e@eci)el" u#lise* c#ul* 'r#)i*e &e necess!r" m#i#n. T&e %#r

AIR MUSCLES 11

Air Muscle ! *i@eren s!(es

THEORETICAL MODEL


AIR MUSCLES 12

Usin( c#nser)!i#n #- ener(" !n* !ssumin( &e !cu!#r m!in!ins *: *P e?u!l # er#, re!s#n!$le -#r !cu!#rs $uil %i& si@ $r!i* $ers &! !re !l%!"s in c#n!c %i& &e inner $l!**er, &e ensile -#rce 'r#*uce* c!n $e c!lcul!e* -r#m

_____a

&ere, P



&e in'u !cu!i#n 'ressure,

*:



&e c&!n(e in &e !cu!#rs ineri#r )#lume

*L



&e c&!n(e in &e !cu!#rs len(&

:$



&e )#lume #ccu'ie* $" &e $l!**er

* 

&e c&!n(e in sr!in ener(" *ensi"c&!n(e in s#re*

ener("Juni )#lume.

7f *escri$es &e lum'e* e@ecs #- -rici#n !risin( -r#m s#urces suc& !s c#n!c $e%een &e $r!i* !n* &e $l!**er !n* $e%een &e $ers #- &e $r!i* isel-. Ne(lecin( &e sec#n* !n* &ir* erms #n &e ri(& &!n* si*e #- !$#)e e?u!i#n !n* !ssumin( &e !cu!#r m!in!ins &e -#rm #- ! ri(& circul!r c"lin*er %i& !n inniesim!ll" &in $l!**er "iel*s

AIR MUSCLES 13

%&ere  is &e sr!in ener(" *ensi" -unci#n. Usin( &e !ssum'i#ns #- inii!l is#r#'" !n* inc#m'ressi$ili", W c!n $e *escri$e* !s ! -unci#n #- %# sr!in in)!ri!ns  I1 !n* I2 

%&ere Cij !re em'iric!l c#ns!ns. 0nl" %# M##ne"Ri)lin c#ns!ns C1+ 11.4 ru$$er $l!**er, &#%e)er, #&er m!eri!ls m!" re?uire !**ii#n!l c#ns!ns. 7#r &e c!se #- &e Mc5i$$en !cu!#r, &e e>'erimen!l me&#*s re?uire* # *eermine &ese c#ns!ns !re *r!m!ic!ll"

sim'lie*

$ec!use

&e

Mc5i$$en

!cu!#rs

sr!in

in)!ri!ns, c#nsr!ine* $" $r!i* i!l ensi#n .T&is -#rui#us rel!i#ns&i' elimin!es &e nee* -#r muli!>i!l esin( &! %#ul* #&er%ise $e necess!r". S#l)in( e?u!i#n a usin( &e n#nline!r M##ne"Ri)lin m!eri!ls m#*el resuls in ! Mc5i$$en !cu!#r m#*el %&#se srucure is !ll#%e* # *e-#rm !s %ell !s s#re el!sic ener(" in ! n#nline!r -!s&i#n. T&is m#*el is (i)en $"


AIR MUSCLES 14

%&ere F mr is &e 're*ice* -#rce, !n* '!r!meers N , Lo , B, !n* Ro !re s&#%n in (ure 1 !n* (ure 2. ;l!**er &ic
7i(ure 1


AIR MUSCLES 1/

7i(ure 2

Mc5i$$en !cu!#rs !re -!$ric!e* -r#m %# 'rinci'le c#m'#nens !n in=!!$le inner $l!**er m!*e #- ! ru$$er m!eri!l !n* !n e>eri#r $r!i*e* s&ell %#un* in ! *#u$le &eli>. A !m$ien 'ressure, &e !cu!#r is ! is resin( len(& (ure 1. As 'ressure incre!ses, &e !cu!#r c#nr!cs 'r#'#ri#n!ll" unil i re!c&es is m!>im!ll" c#nr!ce* s!e ! m!>imum 'ressure (ure 2. T&e !m#un #- c#nr!ci#n is *escri$e* $" &e !cu!#rs l#n(iu*in!l srec& r!i# (i)en $" 1  Li Lo %&ere L is &e !cu!#rs len(&, !n* su$scri' i re-ers # &e ins!n!ne#us *imensi#n !n* &e su$scri' o re-ers # &e #ri(in!l, resin( s!e *imensi#n.

ESTIMATION OF FRICTIONAL EFFECTS

T&e &ir* erm #n &e ri(& #- e?u!i#n a re'resens &ese -rici#n!l l#sses %&ic& !re ! -unci#n #- 1 $r!i* m!eri!l, 2 $l!**er m!eri!l, 3 'ressure, !n* 4 !cu!#r len(&. In lieu #- ! m#*el &! inc#r'#r!es ! -unci#n -#r e!c& #- &ese, %e &!)e !'erimen!l *!! !n* &e#r" 're*ici#ns  F mr  su((ess ! line!r -#rm (i)en $"


AIR MUSCLES 1

F f  mP O b %&ere m !n* b !re em'iric!ll" *eermine* c#ns!ns. T&e !cu!#r m#*el, %&ic& n#% inclu*es &e (e#mer" #- &e $r!i* !n* $l!**er, &e m!eri!l 'r#'eries #- &e $l!**er, !n* ! erm -#r -rici#n!l e@ecs !ll &ree erms #- e?u!i#n a is (i)en $" F  F mr  F f A c#m'!ris#n #- &is m#*el )ersus e>'erimen!l resuls -#r &e l!r(es !cu!#r n#min!l $r!i* *i!meer #- 11J4 in. is 'resene* in (ure 3./. T&e (ure s&#%s ! re!s#n!$l" cl#se  -#r e!c& #- &e -#ur !ci)!i#n 'ressures ese*. Simil!r resuls %ere #$!ine* -#r &e %# sm!ller !cu!#rs n#min!l $r!i* *i!meers #- Q !n* 1J2 $u !re n# s&#%n.

7i(ure 3


AIR MUSCLES 19

DYNAMIC PROPERTIES

T# me!sure &e -#rce)el#ci" 'r#'eries #- &e Mc5i$$en !cu!#r, ! series #- e>'erimens %ere c#n*uce* %i& &e !>i!l#rsi#n!l ;i#ni> MTS S"sems C#r'., Minnes#!, U.S.A. ensile esin( insrumen. Acu!#rs #- &ree sies %ere c#nsruce* !n* ese*. E!c& e>'erimen me!sure* &e -#rce #u'u ! ! c#ns!n 'ressure #)er &e c#nr!ci#n r!n(e ! )!ri#us )el#ciies. 0ne en* #- &e !cu!#r %!s ri(i*l" !!c&e* # &e l#!* cell %&ile &e #&er en* %!s m#)e* in res'#nse # &e insrumens *i(i!l c#nr#ller. Se' )el#ci" 'r#les %ere !''lie* suc& &! #ne en* #- &e !cu!#r %!s r!'i*l" !cceler!e* !n* &el* # ! c#ns!n )el#ci" unil &e en* #- &e !cu!#rs %#r
EPERIMENTAL EFFECTS

T&e e>'erimen!ll" me!sure* #u'u -#rce #- ! sin(le Mc5i$$en !cu!#r, 'l#e* !s ! -unci#n #- $#& len(& !n* )el#ci", is s&#%n in


AIR MUSCLES 1

(ure 4. T&e resuls s&#%n !re -r#m !n !cu!#r %&#se n#min!l $r!i* *i!meer %!s Q inc& !n* c#nsruce* %i& ! n!ur!l l!e> $l!**er. T&e !cu!#r 'ressure %!s / $!r !n* &e #ri(in!l, resin( s!e len(& #- &e !cu!#r %!s 1+ mm. T&e #u'u -#rce is cle!rl" ! -unci#n #- len(&, $u n# #- )el#ci". Simil!r resuls %ere #$!ine* ! l#%er 'ressures !n* %i& &e #&er %# sie* !cu!#rs, $u !re n# s&#%n.

7i(ure 4

OPERATIONAL CHARACTERISTICS

T&e c&!r!cerisics #- Muscles !s (i)en $" &e S&!*#% R#$#ic C#m'!n". 45 N load


AIR MUSCLES 16

SPECIFICATION OF TYPICAL AIR MUSCLE !t"e S"a#$% &$'(a)*+


AIR MUSCLES 2+

Dia'ete,

Weig"t

P-ll 0a,+

!3./ Mai'-' (-ll

3+ mm

+ (

3/ <(

9+ <(

Le)gt" 26+ mm srec&e*

srec&e* -#rm

T&ese me!suremens !re !
26+mm

T#!l Muscle Len(&

2/+mm

Aci)e Len(&

23+mm

1 T&e H#leH#le s'!cin( is &e *is!nce $e%een &e &#les in &e in(s ! ei&er en* #- &e muscle. T&is is !*us!$le, !s &e in(s c!n $e scre%e* in #r #u. T&e" c!n !ls# $e rem#)e* enirel", cre!in( ! m#re c#m'!c muscle. Use !n M1+ scre% inse!*, !n* remem$er # use PT7E !'e # ensure ! (##* se!l. 2 T&e T#!l Muscle Len(& is &e len(& #- &e %&#le muscle, e>clu*in( &e in(s.


AIR MUSCLES 21

3 T&e Aci)e Len(& is &e len(& #- &e '!r #- &e muscle %&ic& c#nr!cs un*er 'ressure, !n* *#es n# inclu*e &e &e!*ers.

T&ese me!suremens !re !
21+mm

T#!l Muscle Len(&

19+mm

Aci)e Len(&

1/+mm

C#nr!ce* -#rm


AIR MUSCLES 22

DIFFERENCES FROM PNEUMATIC CYLINDERS

T&e Air Muscle is ! l#% 'ressure !cu!#r %i& ! se #- #'er!i#n!l -e!ures uni?ue

in &e el* #- r#$#ics !n* !u#m!i#n.

a+  S'$$t" e, ,ee '$ti$) -r#m s!r # nis& *ue # &e c#m'lee l!c< #- sici#n, &e -e!ure #- s!n*!r* !cu!#rs %&ic& 'r#*uces &e c&!r!cerisic er< s# %ell
0+ 5 C$'(lia)&e  Al&#u(& &e" c!n 'r#*uce &e -#rce nee*e* # m#)e ! -unci#n &e Air Muscle %ill !ls# "iel* %&en !n #$s!cle is enc#unere*, &us 're)enin( *!m!(e # &e #$ec !n* &e Arm  ! *isinc !*)!n!(e %&ere r#$#s mi> %i& &um!ns.

&+ 5 Lig"t %eig"t  T&e m!eri!ls -r#m %&ic& &e Air Muscle is m!*e !re n#nme!llic !n* (i)e i ! rel!i)el" &i(& '#%er#%ei(& r!i#  ! criic!l -e!ure in c&##sin( !n !cu!#r -#r ! m#$ile r#$#

AD6ANTAGES OF AIR MUSCLES

P#%er # %ei(& r!i#s in e>cess #- 1 <J<(, $" %!" #- c#m'!ris#n, elecric *ri)es "'ic!ll" &!s s#me 1++ J<( A )!r"in( -#rce*is'l!cemen rel!i#n ! c#ns!n (!s 'ressure, c#nr!r" # 'neum!ic c"lin*ers, %&ic& resuls in ! muscleliimum *is'l!cemen #r sr#

AIR MUSCLES 23

T&e !$sence #- -rici#n !n* &"seresis, !s #''#se* # #&er "'es #- PAMs T&e !$ili" # #'er!e ! ! %i*e r!n(e #- (!s 'ressures, !n* &us # *e)el#' $#& )er" l#% !n* )er" &i(& 'ullin( -#rces T&e '#ssi$ili" #- *irec c#nneci#n # ! r#$#ic #in, i. e. %i&#u &!)in( # use !n" (e!rs, $ec!use #- &eir &i(& #u'u -#rces ! !ll s'ee*s. S#me #- &e !*)!n!(es s'el #u $" &e s&!*#% c#m'!n" "'ic!l # &eir 'r#*ucs !re

Lig"t%eig"t  Air Muscles %ei(& !s lile !s 1+ (m  '!ricul!rl" use-ul -#r %ei(&criic!l !''lic!i#ns

L$%e, C$7t  Air Muscles !re c&e!'er # $u" !n* ins!ll &!n #&er !cu!#rs !n* 'neum!ic c"lin*ers

S'$$t" 5 Air Muscles &!)e n# Wsici#nW !n* &!)e !n imme*i!e res'#nse. T&is resuls in sm##& !n* n!ur!l m#)emen.

Flei0le  Air Muscles c!n $e #'er!e* %&en %ise* !>i!ll", $en r#un* ! c#rner, !n* nee* n# 'recise !li(nin(.

P$%e,-l  Air Muscles 'r#*uce !n incre*i$le -#rce es'eci!ll" %&en -ull" srec&e*.

Da'(e#  Air Muscles !re sel-*!m'enin( %&en c#nr!cin( s'ee* #- m#i#n en*s # er#, !n* &eir =e>i$le m!eri!l m!en*in(.

C$'(lia)t  ;ein( ! s#- !cu!#r, Air Muscles s"sems !re in&erenl" c#m'li!n.


AIR MUSCLES 24

E8&ie)t  ! muscle len(& c!n $e m!in!ine* %i& minim!l ener(" in'u.

Fa7t -ull c#nr!ci#n c!n $e !c&ie)e* in less &!n #ne sec#n* -r#m res.

DISAD6ANTAGES OF AIR MUSCLES

T&e -#rce %&ic& c!n $e !''lie* is #nl" ensile in n!ure. 7#r $#& m#*els !n* c#nr#l !l(#ri&ms Ru$$er is #-en nee*e* # !)#i* &e u$e -r#m $ursin(, &is c#mes ! &e c#s #- ! &i(& &res&#l* 'ressureY"'ic!ll" !$#u 6+

AIR MUSCLES 2/

Ru$$er *e-#rm!i#n, li
APPLICATION

H-'a)$i# ,$0$t7

T&e m!#r !''lic!i#n #- Air Muscles is in &e el* #- &um!n#i* r#$#s. As &ese !cu!#rs ne!rl" resem$le &e c&!r!cerisics #- !cu!l s

AIR MUSCLES 2

Hum!n#i* r#$# m!nu-!cure* $" S&!*#% r#$#ic c#m'!n"

A,ti9&ial li'07


AIR MUSCLES 29

Arici!l lim$ *e)el#'e* ! &e $i# r#$#ics L!$, Uni)ersi" #- !s&in(#n.

A &e $i# r#$#ic l!$ #- uni)ersi" #- !s&in(#n &e lim$ !s s&#%n (ure %!s *e)el#'e*. T&e m!#r re?uiremens #- &eir rese!rc& e!m %ere 1. C#ninu#us !n* e>en*e* #'er!i#n -#r !$#u 1+ &#urs. 2. L#% %ei(& 3. Zuieer #'er!i#n 4. User s!is-!ci#n /. N# m!inen!nce #r l#% le)els #- m!inen!nce.

T# s!is-" !ll &e -#re meni#ne* re?uiremens # $e s!ise*, ! rese!rc& e!m mi(& s'en* "e!rs. ;u '!ri!ll" &ese -e!s %ere !cc#m'lis&e*. T&e (ure (i)en $el#% illusr!es &is.


AIR MUSCLES 2

Merlin Hum!ni-#rm Air Muscles !!c&e* # &um!n &!n*

T"e Dete,$-7 "a)#7

T&e *e>er#us &!n* %!s *e)el#'e* $" &e S&!*#% r#$#ic c#m'!n". T&e &!n*s #'er!e us li
T&e muscle c!n 'er-#rm !n" -unci#n &e &um!n &!n* 'er-#rms. ;esi*es i is e?ui''e* # s%i)el is n(ers. I m!

AIR MUSCLES 26

muscles -#r &ese m#)emens. T&e &um!n &!n* &!s 24 muscles. T&e !**ii#n!l -#ur in c!se De>er#us &!n*s *ue # &e s%i)elin( m#i#n.

FURTHER DE6ELOPMENTS

T&e Ple!e* Pneum!ic Air Muscles PPAMs As ! resul (r#%in( rese!rc& in &e el* #- Air Muscles, !n#&er )!ri!n c!lle* 'le!e* 'neum!ic !ir muscles %ere *e)el#'e*. Ple!e* 'neum!ic !rici!l muscles !re sr#n( !n* li(&%ei(& !cu!#rs &! 'er-#rm )er" %ell in '#sii#n c#nr#l !n* #&er !u#m!i#n !n* r#$#ic !s
!cc#m'lis&e* %i&

&em !n* &is us $" usin( #@&es&el- 'ressure re(ul!in( ser)# )!l)es #(e&er %i& sim'le PI c#nr#l ec&ni?ues. 7ur&erm#re, &e" c!n e!sil" $e m!*e # &!)e ! s#- #uc& s# !s n# # *!m!(e -r!(ile #$ecs #r # e@ec ! s!-e m!nm!c&ine iner!ci#n. ;ec!use #- &eir in&eren c&!r!cerisics PPAMs !re sui!$le -#r '#%erin( %!l
S#me #- &e s!e* !*)!n!(es #- PPAMs !re 1. A m!>imum *is'l!cemen #r sr#

AIR MUSCLES 3+

T&e 'le!e* 'neum!ic Air Muscles

CONCLUSION

E)en &#u(& Air Muscles !re n# c!'!$le #- #@erin( !n e>remel" %i*e r!n(e #- #'er!i#ns, $u in &e c!se #- !rici!l le(s, &um!n#i* r#$#s ec &e" #@er ! %i*e r!n(e #- '#ssi$iliies. i& -ur&er *e)el#'mens in neur!l ne%#rimum eXcienc" !n* $eer *!m'in(.


AIR MUSCLES 31

REFERENCES

:OOKS A#;a)&e# Me&"a)i&7 $ S$li#75 L S S,i)at" T!! McGr!%Hill Pu$lis&in( C#m'!n" Limie*, Ne% Del&i.

A Tet :$$ $ Metall-,g* a)# Mate,ial S&ie)&e5 O P K"a))a D&!n'! R!i Pu$lic!i#ns, Ne% Del&i

WE:SITES

     

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Air Muscles

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