Mechanical equilibrium model of rubberless artificial muscle and application to position control of antagonistic drive system

Purpose - The purpose of this paper is to describe a mechanical equilibrium model of a one-end-fixed type rubberless artificial muscle and the feasibility of this model for control of the rubberless artificial muscle. This mechanical equilibrium model expresses the relation between inner pressure, contraction force, and contraction displacement. The model validity and usability were confirmed experimentally.Design methodology approach - Position control of a one-end-fixed type rubberless artificial muscle antagonistic drive system was conducted using this mechanical equilibrium model. This model contributes to adjustment of the antagonistic force.Findings - The derived mechanical equilibrium model shows static characteristics of the rubberless artificial muscle well. Furthermore, it experimentally confirmed the possibility of realizing position control with force adjustment of the rubberless artificial muscle antagonistic derive system. The mechanical equilibrium model is useful to control the rubberless artificial muscle.Originality value - This paper reports the realization of advanced control of the rubberless artificial muscle using the derived mechanical equilibrium model.