DESIGN AND FABRICATION OF A TEST-BED AIMED FOR EXPERIMENT WITH PNEUMATIC ARTIFICIAL MUSCLE

Pneumatic artificial muscles (PAMs) are contractile or extensional devices operated by pressurized air. Similarly to human muscles, PAMs are usually coupled antagonistically. PAMs were first developed (under the name of McKibben Artificial Muscles) in the 1950s for use in artificial limbs. There is growing interest in the use of pneumatic artificial muscles for robotic applications due to their high power to weight ratio and the adaptable compliance. To control the actuator, we have to know its properties. The objective of this project was to design an apparatus which would enable experimental investigation of PAMs.