Analysis on the Impact Factors for the Pulling Force of the McKibben Pneumatic Artificial Muscle by a FEM Model

Table 1

Impact factors for the characteristics of PAM.

Impact factor [unit]	Value	Impact factor [unit]	Value
Contraction [%]	0, 5, 10, 15, 20	Initial diameter [mm]	20, 40
Pressure [MPa]	0.2, 0.3, 0.4	Thickness of the tube tk [mm]	1.5, 2, 2.5, 3
Initial braid angle [degree]	17.1, 24.8	Material`	Rubber:
			MPa,
			MPa
			Silicone rubber:
			MPa,
			MPa