Abstract
In this paper, we investigate the relation of dynamic property between tension, contraction velocity and length of McKibben pneumatic actuators via some experiments. Although robots with McKibben pneumatic actuators are widely applied to rehabilitation, it has not been well verified how do their properties exhibit stable motions from its simple structure. We analyze the relation of output tension, contraction velocity and length. From the results of experiments, we conclude that the dynamic property depending on velocity of the actuator has relation to both the velocity and the length of the actuator and the general form from the relation can be approximated as the plane.
