Steven D. Thomalla

Papers

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About

Steven D. Thomalla’s research centers on the modeling, implementation, and advancement of McKibben actuators—a class of soft, fiber-reinforced artificial muscles originally developed in the 1950s. His major contribution lies in extending these actuators from traditional pneumatic applications into hydraulic systems, where they demonstrate superior force and power density at a lower cost compared to many conventional actuators. His most-cited work, "Modeling and Implementation of the McKibben Actuator in Hydraulic Systems" (2018, 37 citations), provides foundational models and practical guidance for engineers seeking to harness these compliant, high-performance actuators in fluid power contexts. By bridging the gap between soft robotics and hydraulic engineering, Thomalla’s work opens new possibilities for safer, more efficient, and more adaptable actuation in applications ranging from industrial automation to assistive devices. His research is particularly notable for its focus on real-world implementation, offering clear pathways from theoretical modeling to functional hardware. For students and researchers exploring soft robotics or fluid power, Thomalla’s contributions represent a critical step toward making McKibben actuators a viable, cost-effective alternative in demanding hydraulic environments.