Optimized artificial muscles for an inherently safe robotic arm

Safe interaction between rehabilitation robots and patients requires the development of dedicated technology. Inherently compliant actuators, such as artificial muscles (McKibben actuators) can help achieve this goal. This paper presents McKibben actuators with an initial length that is invariant with pressure. They also feature improved range of stiffness and increase range of extension. An application of the developed actuators in an anthropomorphic robotic arm presented. A stiffness control scheme was implemented that allows it to safely shake hands with humans.