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excerpt from the book: Marko B. Popovic, Biomechanics and Robotics, Pan Stanford Publishing Pte. Ltd., 2013 (No of pages 351) Print ISBN: 9789814411370, eBook ISBN: 9789814411387, DOI: 10.4032/9789814411387 Copyright © 2014 by Pan Stanford Publishing Pte. Ltd.
Chapter 2.
Actuators
Chapter outline:
Biological Actuators 33
Muscle Macrodynamics 35
Muscle Types 40
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Skeletal muscle 41
Muscle fiber structure 42
Myofibril’s Myosin and Actin 44
Sliding Filament Theory 44
Muscle actuation details 49
Artificial Actuators 51
Combustion Engines and Actuation 52
External combustion engines 52
Internal combustion engines 54
Pneumatic Engines and Actuation 56
PAM, McKibben Artificial Muscles 58
Hydraulic Engines and Actuation 59
Electric Motors 61
Linear, voice coil, servo, and stepper motors 64
Piezoelectric motors 64
Electroactive Polymers 65
Shape-Memory Alloys 66
References and Suggested Reading 67
[chapter content intentionally omitted]
References:
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