An isoperimetric formulation to predict deformation behavior of pneumatic fiber reinforced elastomeric actuators

Gaurav Singh, Girish Krishnan

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Fiber reinforced elastomeric actuators are popular actuators for soft robots because of their inherent safety, energy density and a large repertoire of spatial motion patterns. However, a small subset of these actuators alone known as McKibben pneumatic muscles with antisymmetric fiber orientations have been extensively analyzed in literature. This paper analyzes the large deformation kinematics of generalized McKibben actuators with asymmetric and arbitrarily varying fiber orientations by formulating a simple and accurate isoperimetric problem that involves constrained volume maximization problem. This model maximally decouples kinematics and kinetostatics thereby significantly reducing the numerical complexity involved in analysis. The accuracy of the model is verified by benchmarking with existing models for the McKibben actuator case, and with experiments for novel designs with no associated prior literature. This model is deemed to be useful in the design synthesis of fiber reinforced elastomeric actuators for a desired kinematic and kinetostatic requirement.

Original languageEnglish (US)
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479999941
StatePublished - Dec 11 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866


OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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