THE MCKIBBEN MUSCLE AND ITS USE IN ACTUATING ROBOT-ARMS SHOWING SIMILARITIES WITH HUMAN ARM BEHAVIOR

Describes the McKibben muscle and its major properties. Outlines the a nalogy between this artificial muscle and the skeletal muscle. Describ es the actuator composed of two McKibben muscles set into antagonism b ased on the model of the biceps-triceps system, and explains its natur al compliance in analogy with our joint litheness. Reports some contro l experiments developed on a two d.o.f. robot actuated by McKibben mus cles which emphasize the ability of these robot-arms to move in contac t with their environment as well as moving loads of high ratio to the robot's own weight. Also outlines control difficulties and accuracy li mitations and discusses applications.