McKibben型空気圧ゴム人工筋モデルの基礎的検討

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  • Fundamental Consideration for McKibben Type Artificial Rubber Muscle Model

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<p>The purpose of this study is to improve the accuracy of McKibben type artificial rubber muscle model by considering the axial stress generated in the rubber tube. This axial stress in previous works had been calculated based on Mooney-Rivlin strain energy function. However, the accuracy of force characteristic had been decreased owing to the modelling error of axial stress. The relation between multiple stresses in this study. In this paper, the axial stress calculated from proposed method is compared with measured value and the axial stress calculated from previous method to verify effectiveness of this method.</p>

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