Performance of a Pneumatic Muscle Actuated Rotation Module.

The utilization of pneumatic muscles in the actuation of robotized systems is still in its early stages, thus calling for further study of such constructive solutions. The need for light robotized systems with improved dynamics has led to the development of pneumatic muscles as a power source for the system. This type of actuator, which has also an excellent power/weight ratio, meets the need for safety, simplicity and lightness. Starting from the human model, the paper presents and discusses the performance of a standardizable rotation module, actuated by pneumatic muscles and adaptable on robotic systems designed for the aid of disabled persons. Rotation of a cylindrical joint by means of pneumatic muscles is achieved in a considerably similar way to that generated by human muscles, based on the agonist vs. antagonist principle, namely as one muscle contracts the other will relax. [ABSTRACT FROM AUTHOR]