Abstract: Pneumatic muscle is a novel pneumatic actuator, composed of a rubber tube surrounded by braided cords. The full mathematic model of pneumatic muscle system is presented. The working process of pneumatic muscle system is divided into four successive processes, consisting of isometric inflation, contractive inflation, extended disinflation and isometric disinflation. The characteristics of pneumatic muscle system are discussed by computer simulation.

Key words: Dynamic and static characteristics, Mathematic model, Pneumatic muscle, Pneumatic technology, Simulation