The McKibben muscle and its use in actuating robot-arms showing similarities with human arm behaviour

Describes the McKibben muscle and its major properties. Outlines the analogy between this artificial muscle and the skeletal muscle. Describes the actuator composed of two McKibben muscles set into antagonism based on the model of the biceps-triceps system, and explains its natural compliance in analogy with our joint litheness. Reports some control experiments developed on a two d.o.f. robot actuated by McKibben muscles which emphasize the ability of these robot-arms to move in contact with their environment as well as moving loads of high ratio to the robot's own weight. Also outlines control difficulties and accuracy limitations and discusses applications.