抄録
In this paper, we investigate the relation of dynamic property between actuator tension and contraction velocity of McKibben pneumatic actuators via some experiments. Several robots with McKibben pneumatic actuators are widely applied to rehabilitation. On the other hand, it has not well verified how do their characteristics exhibit stable motions from its simple structure. We examine the relation of output tension and contraction velocity and that of tension and length. From the results, we may conclude that dynamic property depending on velocity has no relation to the length of actuator.
