Isotonic characteristics of a pneumatic muscle actuator

The article presents the problems of determination of the static characteristics of the pneumatic muscle actuator for an artificial hand. The procedure of experimental investigation of the constant load characteristics (the so called isotonic characteristics) of the muscle is described. A new mathematical model for the isotonic characteristics is developed based on the geometry of the muscle. The new model provides a very good agreement between the calculation and experimental results. Graphical Abstract

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