6
Piston Actuation Comparison
Force (N)
5
0
20
40
60
80
Pressure (
psi
)
80
0
100
0
Time (ms)
Valve
Signal
Foot
Contact
0
20
40
60
80
100
0
0.6
Text Box: Force (N)
Force (N)
Time (ms)
Muscle
Commands
Piston held stationary 1 mm above force plate
Source:
Full, R. J. and Meijer, K., “Artificial muscles versus natural actuators from frogs to flies,”
Insect
Sprawlita
Model
Force (N)
5
0
20
40
60
80
Pressure (
psi
)
80
0
100
0
Time (ms)
Valve
Signal
Thrust Time
Peak Thrust