Modification of the mathematical model of pneumatic muscle

For more precise control of the flexible robots, a more precise mathematical model of pneumatic muscle elongation is necessary. Based on the ideal model of pneumatic muscle, lots of improved models have been proposed, but there is still error between the improved models and the actual situation. In this paper, length contraction experiment of pneumatic muscle has been conducted. According to theoretical calculations, data fitting on matlab and optimizing the parameters such as wall thickness and elastic modulus of rubber tube in the improved model of Yang Gang, a more precise model is developed. The result shows that the new model is closer to the actual situation, through which we could better calculate the length of pneumatic muscle in different situations and the control of pneumatic muscle will be more precise.