@article {481753,
	title = {Measurement and modeling of McKibben pneumatic artificial muscles},
	journal = {Robotics and Automation, IEEE Transactions on},
	volume = {12},
	number = {1},
	year = {1996},
	month = {Feb},
	pages = {90-102},
	abstract = {This paper reports mechanical testing the modeling results for the McKibben artificial muscle pneumatic actuator. This device contains an expanding tube surrounded by braided cords. We report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models. The results are briefly compared with human muscle properties to evaluate the suitability of McKibben actuators for human muscle emulation in biologically based robot arms},
	keywords = {actuator, actuators, Biological system modeling, biologically based robot arms, Bladder, braided cords, Circuits, dynamic length-tension testing, expanding tube, Fitting, Humans, linearized model, McKibben pneumatic artificial muscles, mechanical testing, Muscles, Pneumatic actuators, pneumatic control equipment, Robots, static length-tension testing, Testing, Yarn},
	issn = {1042-296X},
	doi = {10.1109/70.481753},
	url = {http://dx.doi.org/10.1109/70.481753},
	author = {Ching-Ping Chou and Hannaford, B.}
}
