All living creatures have two types of muscles: parallel and pinnate muscles. However, until recently, most research into artificial muscles have solely fabricated and experimented with parallel muscles. Although, there have been some works concerned with artificial muscles that have developed pinnate muscles, but these have targeted muscles which are flat (i.e., two dimensional) and have constant muscle width. Therefore, we have tried to fabricate a prototype of a three-dimensional artificial pinnate muscle with a realistic muscle shape. The muscle consists of seventy thin McKibben artificial muscles. The prototype artificial pinnate muscle has been actuated and its characteristics evaluated.
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