Bundled Super-Coiled Polymer Artificial Muscles: Design, Characterization, and Modeling

Our paper, "Bundled Super-Coiled Polymer Artificial Muscles: Design, Characterization, and Modeling" has been accepted to IEEE Robotics and Automation Letters. In this paper we present the design, comparison, and scaling characterization of three new bundled artificial muscles which amplify force while maintaining biomimetic properties. We propose a linear model that characterizes the actuation behavior of the bundles, and use the model to quantitatively compare the performance and scaling trends of different bundle configurations.