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International Conference on Intelligent Robotics and Applications

ICIRA 2012: Intelligent Robotics and Applications pp 123–130Cite as

4M-Model Based Bionic Design of Artificial Skeletal Muscle Actuated by SMA

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7508))

Abstract

This paper presents a novel 4M-model based artificial skeletal muscle (AM) actuated by shape memory alloy (SMA) wires. Different from Hill- and Huxley- model, the 4M-model is developed based on the microscopic working mechanism of molecular motor (4M), which is the origin of muscle contraction. Overlapped SMA wires and custom made passive composite (CMPC) of the AM were used to mimic biomechanical characteristics of skeletal muscle, which mainly refers to force-length relationship. Experimental results of the AM demonstrate the desired performance.

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Author information

Authors and Affiliations

  1. State Key Laboratory of Mechanism System and Vibration, Institute of Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China

    Jianjun Zhang

  2. Mechatronics Research Institute, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    Jianying Zhu

Authors
  1. Jianjun Zhang
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  2. Jianying Zhu
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Editor information

Editors and Affiliations

  1. Department of Mechanical and Industrial Engineering, Concordia University, H3G 1M8, Montreal, Quebec, Canada

    Chun-Yi Su

  2. Department of Mechanical and Industrial Engineering, Concordia University, H3G 1M8, Montral, Quebec, Canada

    Subhash Rakheja

  3. School of Creative Technologies, The University of Portsmouth, PO1 2DJ, Portsmouth, UK

    Honghai Liu

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© 2012 Springer-Verlag Berlin Heidelberg

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Cite this paper

Zhang, J., Zhu, J. (2012). 4M-Model Based Bionic Design of Artificial Skeletal Muscle Actuated by SMA. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7508. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33503-7_13

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  • DOI: https://doi.org/10.1007/978-3-642-33503-7_13

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33502-0

  • Online ISBN: 978-3-642-33503-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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