EHDポンプを駆動源とした人工筋システムの開発

抄録

The liquid inside the McKibben Artificial Muscle is extracted using the elasticity of the expanding body. Therefore, in order for the muscles to contract, a large pressure exceeding the elastic force of the expanding body is required. In addition, the calculation of the contractile force exerted by artificial muscles is extremely complicated and difficult to predict. In this study, we proposed and developed a new artificial muscle (The EHD artificial muscle) with an EHD pump driving source that can generate bi-directional flow by applying the EHD phenomenon. By using the EHD pump as the driving source, the muscle can be relaxed without the elasticity of the expanding body. In addition, the structure of the EHD artificial muscle is simpler than that of the McKibben type, and it is easier to calculate the contraction force to be output.