Experimental Validation of a 7-DOF Power Soft Robot Driven by Hydraulic Artificial Muscles

Abstract

Hydraulic artificial muscles offer superior performance compared to most pneumatic artificial muscles, but their suitability in multi-DOF robotics remains unverified. We fabricated a 7-DOF power soft robot spanning over 1.5 m using 29 McKibben hydraulic artificial muscles. We analyzed the proposed robot's workspace, payload capacity, and compliance based on the properties of the hydraulic muscles and conducted several feasibility demonstration experiments. The robot successfully handled a payload of more than 25 kg at a maximum pressure of 5.0 MPa and exhibited passive compliance ranging from 0.5 to 2.0 mm/N with valves fully closed. Furthermore, the robot demonstrated strong impact resistance and successfully performed tasks such as concrete chipping. These results demonstrate the capability of muscle-driven robots to perform diverse tasks in a range of industrial environments.