Compliant actuators that mimic biological muscle performance with applications in a highly biomimetic robotic arm  

作　　者：Haosen Yang Guowu Wei Lei Ren Lingyun Yan Darwin Caldwell 

机构地区：[1]Department of Mechanical,Aerospace and Civil Engineering,University of Manchester,Oxford Rd,Manchester M139PL,UK [2]School of Science,Engineering and Environment,University of Salford,43 Crescent,Salford M54WT,UK [3]Key Laboratory of Bionic Engineering,Ministry of Education,Jilin University,No.2699,Qianjin Road,Changchun 130025,China [4]Department of Robotics Engineering,School of Electrical and Electronic Engineering,Shanghai Institute of Technology,100 Haiquan Road,Shanghai 200235,China [5]Department of Advanced Robotics,Italian Institute of Technology,Via Morego,30,Genova 16163,Italy

出　　处：《Advanced Bionics》2025年第1期2-18,共17页仿生前沿(英文)

基　　金：research project funded by the National Natural Science Foundation of China(NSFC)under Grant 91948302 and Grant 52021003;Research England fund at NERIC.

摘　　要：This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots,thereby fostering the evolution of these robotic systems.We introduce two novel compliant actuators,namely the Internal Torsion Spring Compliant Actuator(ICA)and the External Spring Compliant Actuator(ECA),and present a comparative analysis against the previously conceived Magnet Integrated Soft Actuator(MISA)through computational and experimental results.These actuators,employing a motor-tendon system,emulate biological muscle-like forms,enhancing artificial muscle technology.Then,applications of the proposed actuators in a robotic arm inspired by the human musculoskeletal system are presented.Experiments demonstrate satisfactory power in tasks like lifting dumbbells(peak power:36 W),playing table tennis(end-effector speed:3.2 m/s),and door opening,without compromising biomimetic aesthetics.Compared to other linear stiffness serial elastic actuators(SEAs),ECA and ICA exhibit high power-to-volume(361×10^(3)W/m^(3))and power-to-mass(111.6 W/kg)ratios respectively,endorsing the biomimetic design’s promise in robotic development.

关 键 词：Artificial muscle Compact compliant actuator Series elastic actuator Biomimetic robots 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]