Derivation of a mathematical model for pneumatic artificial muscles

This paper reports the derivation of a mathematical model for straight-fiber-type artificial muscles and its application to feed-forward linearization. The straight-fiber types of artificial muscle have greater contraction ratio and power and a longer lifetime than McKibben types. However, these muscles are highly non-linear, so it is difficult to apply them to a mechanical system. Therefore, a mathematical model of straight-fiber muscles is proposed, and the dynamic relation of design parameters and control specifications was realized. In addition, a feed-forward controller based on the mathematical model is constituted and applied to artificial muscle linearization.