Prototyping the flexible solenoid-coil artificial muscle, for exoskeletal robots

Asuka Takai, Nouf Alanizi, Kazuo Kiguchi, Thrishantha Nanayakkara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Design approaches to exoskeletal robots traditionally aimed to achieve mechanical forces many times larger than the level achievable by the corresponding natural musculoskeletal system. This has often obstructed the user's muscles during physical rehabilitation. Moreover, mechanisms designed for excessive force generation are heavy and rigid structures with little compliance and thus are not suitable for many mobile applications. Here, we present a novel biomimetic flexible solenoid-coil artificial muscle (FSAM) fibre with inherent mechanical compliance, a high pulling stroke, and structural flexibility that suit a lightweight wearable exoskeletal robot for rehabilitation use. FSAM consists of a chain of specially designed bobbins of solenoid coils that can slide against each other. The chain allows FSAM to form an arch shape when the coils are energized; this is reminiscent of a natural muscle that bends a joint by a combined contraction of the muscle length and bending in an arch shape. This strategy of bending a joint not only reduces the need for linear contraction but also allows the exoskeletal to be compliant with the contraction morphology of natural muscle.

Original languageEnglish
Title of host publicationICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
Pages1046-1051
Number of pages6
DOIs
Publication statusPublished - Dec 1 2013
Event2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of
Duration: Oct 20 2013Oct 23 2013

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Other

Other2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
CountryKorea, Republic of
CityGwangju
Period10/20/1310/23/13

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Takai, A., Alanizi, N., Kiguchi, K., & Nanayakkara, T. (2013). Prototyping the flexible solenoid-coil artificial muscle, for exoskeletal robots. In ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems (pp. 1046-1051). [6704071] (International Conference on Control, Automation and Systems). https://doi.org/10.1109/ICCAS.2013.6704071