Abstract Here mechanical metamaterials with shape memory alloys (SMA) are assembled to create a new kind of artificial muscle driven by response temperature changes that generates pulling, pushing, and structurally coded sequentially forces. The deformation force unit can be geometrically tuned, different forces generated two units arranged in parallel series. SMA sheets orientations controllin...

This paper presents a modified integral sliding surface, sliding mode control law for pneumatic artificial muscles. The cutoff frequency tuning parameter λ is squared to increase the gradient from absement (integral of position) to position and higher derivatives to reflect the more dominant terms in the actuator dynamics. The sliding mode controller is coupled with proportional and integral ac...

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 varyi...