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Conference on Biomimetic and Biohybrid Systems

Living Machines 2018: Biomimetic and Biohybrid Systems pp 450–458Cite as

Braided Pneumatic Actuators as a Variable Stiffness Approximation of Synovial Joints

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10928))

Abstract

This paper presents the design of a novel adjustably damped hip and ankle joint using braided pneumatic actuators. These joints provide a wide range of motion and exhibit the same change in stiffness as flexion increases that human joints exhibit, which should also increase bipedal stability, adaptability, and controllability. The theoretical behaviors of the joint make them desirable for use in mobile robotics and should provide a lightweight yet mechanically strong connection that is resistant to unexpected perturbations and catastrophic failure. The joints also bridge the gap between completely soft robotics and completely rigid robotics.

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Acknowledgments

The authors acknowledge the support of the Mechanical and Materials Engineering Department in the Maseeh College of Engineering at Portland State University.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Portland State University (PSU), Portland, OR, USA

    Alexander G. Steele & Alexander J. Hunt

Authors
  1. Alexander G. Steele
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  2. Alexander J. Hunt
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Corresponding author

Correspondence to Alexander G. Steele .

Editor information

Editors and Affiliations

  1. SPECS, Institute for Bioengineering of Catalonia, Barcelona, Spain

    Vasiliki Vouloutsi

  2. Laboratoire Interdisciplinaire des, Université Paris Diderot, Paris Cedex 13, France

    José Halloy

  3. SPECS, Institute for Bioengineering of Catalonia, Barcelona, Spain

    Anna Mura

  4. University of Sheffield, Sheffield, United Kingdom

    Michael Mangan

  5. Bristol University, Bristol, United Kingdom

    Nathan Lepora

  6. University of Sheffield, Sheffield, United Kingdom

    Tony J. Prescott

  7. SPECS, Institute for Bioengineering of Catalonia, Barcelona, Spain

    Paul F.M.J. Verschure

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Steele, A.G., Hunt, A.J. (2018). Braided Pneumatic Actuators as a Variable Stiffness Approximation of Synovial Joints. In: Vouloutsi , V., et al. Biomimetic and Biohybrid Systems. Living Machines 2018. Lecture Notes in Computer Science(), vol 10928. Springer, Cham. https://doi.org/10.1007/978-3-319-95972-6_48

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  • DOI: https://doi.org/10.1007/978-3-319-95972-6_48

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-95971-9

  • Online ISBN: 978-3-319-95972-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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