Characterization and Analysis of Extensile Fluidic Artificial Muscles

Extensile fluidic artificial muscles (EFAMs) are soft actuators known for their large ranges of extension, low weight, and blocked forces comparable to those pneumatic cylinders. EFAMs have yet be studied in a way that thoroughly focuses on manufacturing, experimental characterization, modeling. A fabrication method was developed production two EFAMs. The quasi-static axial force response varying displacement measured by testing specimens under isobaric conditions over pressure range 103.4–517.1 kPa (15–75 psi) with 103.4 (15 increments. were characterized 280 N maximum stroke 98% at 517.1 (75 psi). force-balance model used analyze EFAM response. Prior work employing the approach hyper-elastic constitutive models based polynomial expressions. In this study, these validated EFAMs, new proposed better represent stress values rubber as function strain. These compared terms accuracy when estimating pressure-dependent stress–strain relationships bladder material. analysis demonstrates an error 5% smaller than previously employed same number coefficients. Finally, suggests functions errors coefficients, guarantee material stability, more conservative about strains outside range.