Cover
Vol. 20 No. 1 (2024)

Published: June 30, 2024

Pages: 122-136

Review Article

A Review of Design and Modeling of Pneumatic Artificial Muscle

Wafaa Al-Mayahi 1 Hassanin Al-Fahaam
1Department of Computer Engineering, University of Basrah, Basrah, Iraq
History
  • Received: May 13, 2023
  • Revised: July 12, 2023
  • Accepted: July 19, 2023
  • Available Online: January 15, 2024
DOI

https://doi.org/10.37917/ijeee.20.1.13

Abstract

Soft robots, which are often considered safer than rigid robots when interacting with humans due to the reduced risk of injury, have found utility in various medical and industrial fields. Pneumatic artificial muscles (PAMs), one of the most widely used soft actuators, have proven their efficiency in numerous applications, including prosthetic and rehabilitation robots. PAMs are lightweight, responsive, precise, and capable of delivering a high force-to-weight ratio. Their structure comprises a flexible, inflatable membrane reinforced with fibrous twine and fitted with gas-sealing fittings. For the optimal design and integration of these into control systems, it is crucial to develop mathematical models that accurately represent their functioning mechanisms. This paper introduces a general concept of PAM’s construction, its various types, and operational mechanisms, along with its key benefits and drawbacks, and also reviews the most common modeling techniques for PAM representation. Most models are grounded in PAM architecture, aiming to calculate the actuator’s force across its full axis by correlating pressure, length, and other parameters that influence actuator strength.

Keywords

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