Robotic Artificial Muscles: Current Progress and Future Perspectives

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Robotic artificial muscles are a subset of artificial muscles that are capable of producing biologically inspired motions useful for robot systems, i.e., large power-to-weight ratios, inherent compliance, and large range of motions. These actuators, ranging from shape memory alloys to dielectric elastomers, are increasingly popular for biomimetic robots as they may operate without using complex linkage designs or other cumbersome mechanisms. Recent achievements in fabrication, modeling, and control methods have significantly contributed to their potential utilization in a wide range of applications. However, no survey paper has gone into depth regarding considerations pertaining to their selection, design, and usage in generating biomimetic motions. In this paper, we discuss important characteristics and considerations in the selection, design, and implementation of various prominent and unique robotic artificial muscles for biomimetic robots, and provide perspectives on next-generation muscle-powered robots.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2019-06
Language
English
Article Type
Article
Citation

IEEE TRANSACTIONS ON ROBOTICS, v.35, no.3, pp.761 - 781

ISSN
1552-3098
DOI
10.1109/tro.2019.2894371
URI
http://hdl.handle.net/10203/269796
Appears in Collection
CE-Journal Papers(저널논문)
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