Design of an artificial muscle continuum robot

Michael B. Pritts, Christopher D. Rahn

Research output: Contribution to journalConference articlepeer-review

106 Scopus citations


This paper introduces a novel continuum manipulator consisting of two flexible sections connected by rigid base plates. Each section uses 6 - 8 opposing contracting and extending McKibben actuators to provide two-axis bending. The contracting/extending actuator pairs are sized and positioned to provide matched rotation and torque. The experimental manipulator generates large rotation (30 - 35 degrees per section and 50 degrees for the entire manipulator) and load capacity (25 lb vertical lift) at 60 psi. With a large strength to weight ratio, this manipulator also is highly flexible, simple to manufacture, and low cost.

Original languageEnglish (US)
Pages (from-to)4742-4746
Number of pages5
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue number5
StatePublished - 2004
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering


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