Skip to main content
Fig. 3 | ROBOMECH Journal

Fig. 3

From: Stability analysis of multi-serial-link mechanism driven by antagonistic multiarticular artificial muscles

Fig. 3

Model of multi-serial-link mechanism driven by McKibben artificial muscles. a general view of N-serial-link mechanism driven by antagonistic mono- and multi-articular muscles and b mathematical model of a pair of antagonistic multiarticular muscles represented as springs. The stiffnesses of the left and right sides and the natural length of the m-th pair of the artificial muscles are denoted as \({K}_{L,m}\), \({K}_{R,m}\), and \({L}_{0,m}\), respectively

Back to article page