端部接触面の材料物性を考慮したMcKibben型空気圧ゴム人工筋の収縮力特性の検証

抄録

The purpose of this study is to verify the effect of changing the material of only end on the contraction force characteristics of McKibben type artificial rubber muscle. In previous studies, it was thought that the hysteresis characteristics of artificial muscles were influenced by the material properties of the ends. In this paper, we made artificial muscles with different material properties at the ends. The contraction force characteristics were compared with the characteristics of artificial muscles composed of a single material and the calculated values of the artificial muscle model. From the comparison, the effect of changing the material properties at the ends was verified.