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Biological muscles have always attracted robotics researchers due to theirefficient capabilities in compliance, force generation, and mechanical work.Many groups are working on the development of artificial muscles, however,state-of-the-art methods still fall short in performance when compared withtheir biological counterpart. Muscles with high force output are mostly rigid,whereas traditional soft actuators take much space and are limited in strengthand producing displacement. In this work, we aim to find a reasonable trade-offbetween these features by mimicking the striated structure of skeletal muscles.For that, we designed an artificial pneumatic myofibril composed of multiplecontraction units that combine stretchable and inextensible materials. Varyingthe geometric parameters and the number of units in series provides flexibleadjustment of the desired muscle operation. We derived a mathematical modelthat predicts the relationship between the input pneumatic pressure and thegenerated output force. A detailed experimental study is conducted to validatethe performance of the proposed bio-inspired muscle.

Bio-Inspired Design of Artificial Striated Muscles Composed of Sarcomere-Like Contraction Units (preprint)