Novel models for the extension pneumatic muscle actuator performances

This paper illustrates the design, implementation and modelling of the extensor pneumatic muscle actuator (PMA). The extensor soft actuator has a vital feature of ability to bend and extend, and that give it the flexibility to use in numerous applications. The extended behaviour of this actuator is modelled mathematically to be used to predict the length of a wide range of actuators at different air pressure amounts and make the position control of such type of actuator easier and precise. Moreover, the contraction force formula is modified to describe the pushing force for the extensor actuator. The bending behaviour of single muscle is explained and a 4-PMA continuum arm has been constructed to study its performance and model the bending angle.