excerpt from the book: Biomechatronics, Popovic, Academic Press, Elsevier, 2019. (No of pages 668) ISBN 978-0-12-812939-5 https://doi.org/10.1016/C2016-0-04132-3 Copyright © 2019 Elsevier Inc. All rights reserved. Chapter 3, Pages 45-79

Actuators Marko B. Popovic*, Kathleen A. Lamkin-Kennard†, Philipp Beckerle‡,§, Matthew P. Bowers*

*WORCESTER POLYTECHNIC INSTITUTE, WORCESTER, MA, UNITED STATES †ROCHESTER INSTITUTE OF TECHNOLOGY, ROCHESTER, NY, UNITED STATES ‡TECHNISCHE UNIVERSITAT DORTMUND, DORTMUND, GERMANY §TECHNISCHE UNIVERSITAT DARMSTADT, DARMSTADT, GERMANY

Abstract

This chapter discusses natural and synthetic muscles as well as other human made actuators. A

comprehensive review and comparison of biological and synthetic motor units at different levels and

scales are provided. The study of actuation is quite relevant in the context of biomechatronics research.

In order to decide how best to interface with a biological system one should clearly know a lot on the

biological system including its actuation mechanisms. Moreover, that knowledge can serve as inspiration

to engineer better synthetic counterparts. Still further, it is always good to have a “rich menu,” that is,

multiple options on the table in terms of synthetic actuators; different problems may require different

approaches and corresponding components. Finally, it is quite an intellectually rewarding experience to

compare living and engineered systems and their building block elements at different levels.

CHAPTER OUTLINE

3.1 Introduction .............................................................................................................................. 45

3.2 Synthetic Muscles ...................................................................................................................... 46

3.2.1 Pneumatic Artificial Muscle (PAM); McKibben Muscle ..............................................................46

3.2.2 Hydro Muscle .............................................................................................................................48

3.2.3 Pure Fluidic Elastomer Actuators (FEAs) ....................................................................................54

3.2.4 Cable-Driven “Muscles” .............................................................................................................56

3.2.5 Liquid-Vapor Transition and Chemical Reaction-Based “Muscles” ............................................60

3.3 Electroactive Polymers ............................................................................................................... 62

3.4 Shape-Memory Alloys and Shape-Memory Polymers .................................................................. 64

3.5 Variable Stiffness/Impedance Actuators .................................................................................... 65

3.5.1 Elastic Element Configuration and Design .................................................................................66

3.6 A Brief Review of Nonbiologically (or Less Biologically) Inspired Conventional

Actuators ......................................................................................................................................... 67

3.6.1 Linear Actuators .........................................................................................................................68

3.6.2 Rotary Actuators .........................................................................................................................69

3.7 Biological Actuators: Muscles ...................................................................................................... 71

3.7.1 Actuation of Biological Muscles ..................................................................................................75

A Appendix: Braided, Helically Wound Mesh for McKibben Like Artificial Muscle ............................. 76

References ....................................................................................................................................... 77

Biomechatronics. https://doi.org/10.1016/B978-0-12-812939-5.00003-3

© 2019 Elsevier Inc. All rights reserved.

[chapter content intentionally omitted]

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