Load-dependent Variable Gearing Mechanism of Muscle-like Soft Actuator

Abstract Pennate muscle is characterized by fibers that are oriented at a certain angle (pennation angle) relative to the muscle’s line of action and rotation during contraction. This fiber amplifies shortening velocity muscle, match loading conditions without any control system. unique variable gearing mechanism, which Architecture Gear Ratio (AGR), involves complex interaction among three key elements: fibers, connective tissue, pennation angle. However, how elements determine AGR muscle-like actuator still unknown. study introduces Himisk arranges five contractile units in flexible matrix, experiment simulation results demonstrated proposed could vary automatically response conditions. Based on this actuator, we present series actuators simulations with varying ( P ), elastic modulus matrix E number N ) analyze their effects AGR, three-factor analysis variance. The effect significantly, while slightly, supported idea essential factor for also an important due capability force generation. provides better understanding mechanical behavior effective optimizing strategy soft actuator.