A novel biomimetic actuator system

The design of a biomimetic actuation system which independently modulates position and net stiffness is presented. The system is obtained by antagonistically pairing contractile devices capable of modulating their rate of geometric deformation relative to the rate of deformation of a passive elastic storage element in series with the device's input source. A mechanical model is developed and the properties of the device are investigated. The theoretical results developed are then compared with experimental evidence obtained from a simple prototype model of the system.

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