@article {5299081,
	title = {Analytical Modeling and Experimental Validation of the Braided Pneumatic Muscle},
	journal = {Robotics, IEEE Transactions on},
	volume = {25},
	year = {2009},
	month = {Dec},
	pages = {1282-1291},
	abstract = {Static models of braided pneumatic muscles (BPMs) reported in the research literature fairly accurately predict the muscle-force-carrying capacity. These models, however, rely on experimentally determined parameters that are valid only for the specific muscle configuration under consideration. This paper presents a fully analytical BPM static model that does not depend on experimentally determined parameters. The proposed approach is based on Newtonian mechanics that considers the mechanical and the geometrical properties of the muscle. Distinctively, this paper includes the muscle end-fixture-diameter effect. Results from the developed model are compared with the experimental ones that have been obtained from prototype BPMs.},
	keywords = {actuators, braided pneumatic muscle, modeling, muscle end-fixture-diameter effect, muscle-force-carrying capacity, Newtonian mechanics, pneumatic systems, robot dynamics, simulation},
	issn = {1552-3098},
	doi = {10.1109/TRO.2009.2032959},
	author = {Doumit, M. and Fahim, A. and Munro, M.}
}
