3Frank Daerden. Conception and Realization of Pleated Pneumatic Artificial Muscles and their Use as Compliant Actuation Elements. PhD thesis Vrije universiteit Brussel, Belgium. 1999:7-20.
4Chou, C. P. and Hannaford, B.. Static and Dynamic Characteristics of McKibben Pneumatic Arti. cial Muscles, Proc. IEEE Int. Conf. On Robotics and Automation, Vol. 1, pp. 281-286, San Diego, May, 1994
5http://www. festo. com.
6Shinichi Hirai, Tomohiro Masui, and Sadao Kawamura.Prototyping Pneumatic Group Actuators Composed of Multiple Single-motion Elastic Tubes. http://www. ritsumei.ac.jp/se/hirai/.
7Robert T. Pack, etc. A Rubbertuator-Based StructureClimbing Inspection Robot. Proceedings of 1997 IEEE International Conference on Robotics and Automation Albuquerque, New Mexico, April 1997.
8http://www.shadow.org.uk.
9Terashima Yukio,Kawakami Yukio,Kawai Sunao.A study on the effects of friction characteristics in pneumatic cylinder[C].Proceedings of the fourth international symposium on fluid power transmission and control(ISFP'2003):352-357.
10Xie Zugang and Tao Guoliang.Study on cylinders at very low velocities[C].Proceedings of the fourth international symposium on fluid power transmission and control(ISFP'2003):358-361.
3Chou C P, Hannaford B. Measurement and modeling of Mckibben pneumatic artificial muscle [ J ]. IEEE Transactions on Robotics and Automation, 1996, 12 ( 1 ) :90-102.
4Daerden F, Lefeber D. Pneumatic artificial muscles: Actuators for robotics and automation [ J ]. European Journal of Mechanical and Environmental Engineering, 2002,47(1) :11-21.
7Tsukagoshi H, Kitagawa A, Kamata Y. Wearable fluid power composed of transformed flat tube actuators [ A ]. IEEE/RSJ International Conference on Intelligent Robots and Systems [ C ]. Lausanne, Switzerland : EPFL, 2002 : 1178-1183.
8Damme M V, Beyl P,Vanderborght B, et al. The safety of a robot actuated by pneumatic muscles-A case study [ J ]. International Journal of Social Robotics, 2010,2(3) :289-303.