Improved Method of Preparation for Shape-memory Polymer Sheet with Embedded Electrical Heating Wire for Use in Pneumatic Artificial Rubber Muscle

We improved the structure of a shape-memory polymer (SMP) sheet with an embedded electrical heating wire, thus enhancing the manufacturing reproducibility and durability of flexible and multi-degree-of-freedom pneumatic artificial rubber muscles. We prepared two types of SMP sheets using the previous and improved methods and compared the mechanical properties via bending and tensile tests. The SMP sheets were then attached to a pneumatic artificial rubber muscle, and subjected to a bending angle test and an isometric test to evaluate their bending properties.