Implementation of Oil-Based Hydraulic Artificial Muscles in a Bio-Inspired Configuration

摘要

The hydraulic artificial muscles (HAMs) have been studied recently due to the high power/weight ratio, inherent safety and their human-like characteristics which provide a great potential in biomedical applications like exoskeleton robots and artificial limbs. In this paper, a new oil-based hydraulic artificial muscle (OHAM) with a bio-inspired configuration is presented. The common parts in traditional pneumatic artificial muscles (PAMs) like compressors, pumps and tanks are replaced with linear actuator and cylinders which makes the platform of the OHAM more compact. Moreover, a phenomenological model is used for the dynamic modeling of the OHAM in the static and dynamic states. Then, a new program in LabVIEW software is developed for the signal processing of the system which helps applicants visualize every aspect of the experimental tests, including hardware configuration, data measurement, and troubleshooting. Additionally, characteristics of the OHAM are determined by the implementation of experimental tests for a single artificial muscle. Finally, the bio-inspired configuration is implemented in order to demonstrate the usefulness of the hardware and software of OHAMs in an opposing pair configuration.