New concept and fundamental experiments of a smart pneumatic artificial muscle with a conductive fiber

Shuichi Wakimoto, Jumpei Misumi, Koichi Suzumori

Research output: Contribution to journalArticlepeer-review

29 Citations (Scopus)


A McKibben artificial muscle consisting of a rubber tube and a mesh sleeve made from fibers is a promising actuator as an artificial muscle because of its high power, low weight, and flexibility. However, an external pressure sensor or an expensive electro/pneumatic regulator is generally required to control the pneumatic pressure to drive the actuator. A novel smart McKibben-type artificial muscle with a pressure-sensing function has been proposed and developed in this study. One fiber on the sleeve of the actuator is converted from a normal to a conductive material. The applied pressure is estimated by observing the electrical resistance of the conductive fiber. Therefore, the fiber works as both a sensor and an actuator element. The fabrication process of the smart artificial muscle is established in this report, and the basic characteristics are clarified. Moreover, a compact driving control system of the smart artificial muscle, which uses a small rotary pump without external sensors, electro/pneumatic regulator, or valves, is proposed.

Original languageEnglish
Pages (from-to)48-54
Number of pages7
JournalSensors and Actuators, A: Physical
Publication statusPublished - Oct 15 2016


  • Artificial muscle
  • Compact pneumatic system
  • Fiber sensor
  • Pneumatic actuator
  • Smart structure

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Instrumentation
  • Condensed Matter Physics
  • Surfaces, Coatings and Films
  • Metals and Alloys
  • Electrical and Electronic Engineering


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