excerpt from the book: Marko B. Popovic, Biomechanics and Robotics, Pan Stanford Publishing Pte. Ltd., 2013 (No of pages 351) Print ISBN: 9789814411370, eBook ISBN: 9789814411387, DOI: 10.4032/9789814411387 Copyright © 2014 by Pan Stanford Publishing Pte. Ltd.

Chapter 2.

Actuators

Chapter outline:

Biological Actuators 33

Muscle Macrodynamics 35

Muscle Types 40

Skeletal muscle 41

Muscle fiber structure 42

Myofibril’s Myosin and Actin 44

Sliding Filament Theory 44

Muscle actuation details 49

Artificial Actuators 51

Combustion Engines and Actuation 52

External combustion engines 52

Internal combustion engines 54

Pneumatic Engines and Actuation 56

PAM, McKibben Artificial Muscles 58

Hydraulic Engines and Actuation 59

Electric Motors 61

Linear, voice coil, servo, and stepper motors 64

Piezoelectric motors 64

Electroactive Polymers 65

Shape-Memory Alloys 66

References and Suggested Reading 67

[chapter content intentionally omitted]

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