Comparison of smart artificial muscles with different functional fibers

Shuichi Wakimoto, Sota Kogawa, Hiroaki Matsuda, Kazuya Nagaoka, Takefumi Kanda

Research output: Contribution to journalConference articlepeer-review


A McKibben artificial muscle is a soft actuator that is driven by pneumatic pressure. This artificial muscle consists of a rubber tube and a sleeve made of knitted fibers. By applying pneumatic pressure to the rubber tube, the artificial muscle contracts axially with changing fibers angle. Because of high safety due to flexibility and simplicity, the artificial muscle is expected to be applied to robots or power assist devices in medical, welfare, and agricultural fields. However, for sensing its state, external sensors such as pressure sensors, potentiometers, or encoders are needed in general. By attaching these rigid and bulky sensors, the advantages of the artificial muscle are diminished. In our study, three kinds of functional fibers are utilized as sleeve fibers. The functional fibers work as not only actuator elements but also sensor elements. In this paper, the braiding process of the functional fibers is clarified, and the function realized by each functional fiber is compared.

Original languageEnglish
Pages (from-to)124-126
Number of pages3
Issue number98
Publication statusPublished - 2021
Event17th International Conference and Exhibition on New Actuator Systems and Applications, ACTUATOR 2021 - Virtual, Online
Duration: Feb 17 2021Feb 19 2021

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Energy Engineering and Power Technology
  • Control and Systems Engineering
  • Computer Science Applications


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