McKibben type artificial muscle with helical shape memory polymer fibers realizing variable contraction characteristics

A McKibben type artificial muscle consists of a rubber tube and knitted fibers, by applying pneumatic pressure it generates contraction displacement in the axial direction. Depending on the knitting angle of the fibers, contraction ratio is varied. On the other hand, Shape Memory Polymer (SMP) is known as a functional polymer having two characteristics of shape fixity and shape recovery. Combining SMP with McKibben type artificial muscle, it is possible to change the knitting angle by using shape fixation.In this study, SMP helical fibers were molded and the McKibben artificial muscle using them were fabricated. This artificial muscle realizes change of fiber angle after production. As a result, it was possible to change the contraction characteristics of the artificial muscle.