Pressure-Dependent Hysteresis in a Spring–Rod Compact Pneumatic Artificial Muscle Compared with a Commercial McKibben Actuator

This paper introduces a compact pneumatic artificial muscle (CPAM) that integrates a coaxial rod and an internal helical compression spring (stiffness 9750 N/m) into a McKibben-type outer muscle and compares it to a commercial DMSP-20-200N from FESTO Budapest, Hungary, with identical outer geometry and materials. Both actuators were mounted in a force-controlled test rig, pre-tensioned, and then cycled quasi-statically between their stretched and maximally contracted states at 13 internal pressures. For each pressure, median loading and unloading force–contraction curves were obtained from five repeats measuring both the cylinder excitation force and a load cell, and hysteresis was quantified by a normalized loop area based on peak force and common contraction range. Under the rated load of 2000 N at 0.6 MPa, the CPAM elongates less (−1.5% vs. −3%) and generates higher forces over most of the contraction range. The normalized hysteresis index of the CPAM is markedly lower at low pressures (≈0.05–0.25 MPa, reductions of about 10–25%), similar near 0.30 MPa, and slightly higher at 0.35–0.60 MPa (≈6–14%).