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- W2889088045 abstract "A McKibben actuator/Pneumatic Artificial Muscle (PAM) is a soft actuator which has great potential in the field of bioinspired robotics. Miniaturized versions of PAMs or MPAMs of less than 1.5 mm diameter are ideal actuators for developing surgical devices due to their compliance and high power-to-weight ratio. Accurate mathematical model to represent the mechanics of PAM is an ongoing research. This paper develops a mathematical model which relates the input pressure to end-point deformation of a fabricated MPAM without external loading. The developed theoretical model is validated against experimental data for MPAM of lengths 60 and 70 mm. The model predicts the deformation of MPAM with standard error of less than 10%. The model is also able to predict the locking angle of (54.7^circ ) at higher pressures which is a distinct characteristic of McKibben actuators." @default.
- W2889088045 created "2018-09-07" @default.
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- W2889088045 date "2018-08-29" @default.
- W2889088045 modified "2023-09-23" @default.
- W2889088045 title "Mathematical Model for Pressure–Deformation Relationship of Miniaturized McKibben Actuators" @default.
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- W2889088045 doi "https://doi.org/10.1007/978-981-10-8597-0_23" @default.
- W2889088045 hasPublicationYear "2018" @default.
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