A dynamic model of the McKibben artificial muscle contraction

Summary form only given. The McKibben muscle is used in robot arms as an actuator, but no accurate control of it is known because of the internal friction in the textile weave. The authors analyze this phenomenon by using a 3-parameters dry friction model based on the assumption of a kinetic friction coefficient greater than the static one. This friction model of the weave rubbing against itself completes a model of the muscle as a force generator. This force generator model has been validated in a previous work. The dynamic model considered including the proposed dry static friction model has been tested on an experimental apparatus. Results are presented.