{"title":"人造肌肉驱动的二自由度拟人手臂分析","authors":"C. Cocaud, A. Jnifene","doi":"10.1109/HAVE.2003.1244722","DOIUrl":null,"url":null,"abstract":"This paper investigates the use of artificial muscles as actuators for robot manipulators. Using some basic equations from the field of kinesiology, a procedure was developed in order to determine the optimal position of a muscle in various musculoskeletal configurations found in the human body. This procedure takes into account the artificial muscle characteristics and finds the origin and insertion point of the muscle by optimizing the maximum range of motion and the output torque produced at the joint. Currently available artificial muscles such as McKibben air muscles, Shape Memory Alloys and electroactive polymers are reviewed. Functional models of the SMA and McKibben muscles were presented and used in the optimization procedure.","PeriodicalId":431267,"journal":{"name":"The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.","volume":"34 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"Analysis of a two DOF anthropomorphic arm driven by artificial muscles\",\"authors\":\"C. Cocaud, A. Jnifene\",\"doi\":\"10.1109/HAVE.2003.1244722\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper investigates the use of artificial muscles as actuators for robot manipulators. Using some basic equations from the field of kinesiology, a procedure was developed in order to determine the optimal position of a muscle in various musculoskeletal configurations found in the human body. This procedure takes into account the artificial muscle characteristics and finds the origin and insertion point of the muscle by optimizing the maximum range of motion and the output torque produced at the joint. Currently available artificial muscles such as McKibben air muscles, Shape Memory Alloys and electroactive polymers are reviewed. Functional models of the SMA and McKibben muscles were presented and used in the optimization procedure.\",\"PeriodicalId\":431267,\"journal\":{\"name\":\"The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.\",\"volume\":\"34 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2003-11-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/HAVE.2003.1244722\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/HAVE.2003.1244722","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Analysis of a two DOF anthropomorphic arm driven by artificial muscles
This paper investigates the use of artificial muscles as actuators for robot manipulators. Using some basic equations from the field of kinesiology, a procedure was developed in order to determine the optimal position of a muscle in various musculoskeletal configurations found in the human body. This procedure takes into account the artificial muscle characteristics and finds the origin and insertion point of the muscle by optimizing the maximum range of motion and the output torque produced at the joint. Currently available artificial muscles such as McKibben air muscles, Shape Memory Alloys and electroactive polymers are reviewed. Functional models of the SMA and McKibben muscles were presented and used in the optimization procedure.
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