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Control System of Artificial Chemico-Mechanical Muscle. Medical Robotics Application

机译:人工化学机械肌肉控制系统。医疗机器人应用

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Currently McKibben's pneumatic muscle shows a great functional analogy to the skeletal muscle. It readily enables to motorize the arms of robots in a closer manner to the human arm than traditional robots. However, the dependence of McKibben's pneumatic muscle with respect to pneumatic source under pressure limits its application to the motorization of arms to fixed station. What is missing with the McKibben's pneumatic muscle is an efficient energy autonomy of the type required in the current project of chemico-mechanical artificial muscle. This present work will focus on an alternative way in which biochemical energy is transformed into osmotic energy and then into mechanical energy by means of a chemico-mechanical muscle and application to medical robotics
机译:目前,McKibben的气动肌肉显示出与骨骼肌非常相似的功能。与传统机器人相比,它很容易使机器人的手臂更接近人类的手臂。但是,McKibben的气动肌肉相对于压力下的气动源的依赖性限制了其在手臂固定站机动化中的应用。 McKibben的气动肌肉缺少的是一种有效的能量自主性,它是当前化学机械人工肌肉项目中所需的那种类型。目前的工作将集中在通过化学机械肌肉将生化能量转化为渗透能然后转化为机械能的另一种方法,并将其应用于医疗机器人。

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