ArticleProceedings of the National Academy of Sciences of the United States of America2024
Fast, variable stiffness-induced braided coiled artificial muscles.
Article in Proceedings of the National Academy of Sciences of the United States of America, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- Hierarchical Artificial Muscle with Nonlinear Elasticity for Antagonistic and Cyclic Robotics.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Versatile artificial muscles by decoupling anisotropy.Proceedings of the National Academy of Sciences of the United States of America · 2026Article
- Fuel-Powered Soft Actuators: Emerging Strategies for Autonomous and Miniaturized Robots.Nano-micro letters · 2026Review
- All-Atomic Computational Perspectives for Understanding Morphable Electric Double Layers: A Review.Small (Weinheim an der Bergstrasse, Germany) · 2025Review
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Authors and funding
10 authors.
Funding
Abstract
Biomimetic actuation technologies with high muscle strokes, cycle rates, and work capacities are necessary for robotic systems. We present a muscle type that operates based on changes in muscle stiffness caused by volume expansion. This muscle is created by coiling a mechanically strong braid, in which an elastomer hollow tube is adhesively attached inside. We show that the muscle reversibly contracts by 47.3% when driven by an oscillating input air pressure of 120 kilopascals at 10 Hz. It generates a maximum power density of 3.0 W/g and demonstrates a mechanical contractile efficiency of 74%. The muscle's low-pressure operation allowed for portable, thermal pneumatical actuation. Moreover, the muscle demonstrated bipolar actuation, wherein internal pressure leads to muscle length expansion if the initial muscle length is compressed and contraction if the muscle is not compressed. Modeling indicates that muscle expansion significantly alters its stiffness, which causes muscle actuation. We demonstrate the utility of BCMs for fast running and climbing robots.
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Registered trials
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