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<p>Artificial muscle actuators have shown great promise across various applications, yet their deployment in complex, narrow, and dynamically changing environments remains limited. To address the challenges of limited compliance, inadequate bidirectional force transmission, and poor adaptability to time-varying configurations in existing tendon–sheath artificial muscles (TSAMs), this paper presents a novel double TSAM actuator and a torque control strategy. Inspired by the Hill-type muscle model, the actuator integrates serial and parallel elastic elements to achieve compliant bidirectional torque output. A quasi-static torque transmission model accounting for bending-induced configuration changes is developed, and the impact of structural parameters is systematically analyzed. To compensate for configuration-induced disturbances, a real-time bending angle sensing method based on tendon path elongation is proposed, enabling precise torque control without distal feedback. Experimental validation confirms that the proposed controller maintains bidirectional torque errors within 9.83 ± 0.16%, demonstrating the actuator’s effectiveness for flexible surgical instruments and other applications involving narrow and time-varying pathways.</p>

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Modeling and torque compensation control of double tendon–sheath artificial muscle with time-varying configuration

  • 期刊论文

  • 发表日期：

    2026年6月15日

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  • Tianchao Han,
  • Xudong Pan,
  • Yuefeng Li,
  • Yunliang Chen

摘要

Artificial muscle actuators have shown great promise across various applications, yet their deployment in complex, narrow, and dynamically changing environments remains limited. To address the challenges of limited compliance, inadequate bidirectional force transmission, and poor adaptability to time-varying configurations in existing tendon–sheath artificial muscles (TSAMs), this paper presents a novel double TSAM actuator and a torque control strategy. Inspired by the Hill-type muscle model, the actuator integrates serial and parallel elastic elements to achieve compliant bidirectional torque output. A quasi-static torque transmission model accounting for bending-induced configuration changes is developed, and the impact of structural parameters is systematically analyzed. To compensate for configuration-induced disturbances, a real-time bending angle sensing method based on tendon path elongation is proposed, enabling precise torque control without distal feedback. Experimental validation confirms that the proposed controller maintains bidirectional torque errors within 9.83 ± 0.16%, demonstrating the actuator’s effectiveness for flexible surgical instruments and other applications involving narrow and time-varying pathways.