This study presents a novel idea of rebraiding thin McKibben muscles to overcome their limitation of contraction. The thin McKibben muscles, presented in the authors' previous work, have the flexibility that allows them to be braided. According to the experimental results of our previous research, the original single muscles have a contracting ratio of 28%, and the corresponding value for the muscles braided once is 37%. In this research, we achieved 41% contraction of thin McKibben muscles by braiding twice. The contraction ratio increases if the muscles are braided more. They will then overcome their limitation of contraction. In this report, several prototypes of muscles with different braiding times are designed, fabricated, modeled, and tested. As a result, the increase in the contraction ratio was confirmed from both a theoretical and an experimental point of view; the results were promising. We believe that recurrent-braided thin McKibben muscles will considerably help improve and develop various soft robotic applications in cases where a high contraction ratio is required.

中文翻译：

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反复编织McKibben薄肌以克服其收缩限制。

这项研究提出了重新编织McKibben薄肌肉以克服其收缩限制的新思路。作者以前的工作中展示了稀薄的McKibben肌肉，具有灵活的编织能力。根据我们先前研究的实验结果，原始单条肌肉的收缩率为28％，而编织一次的肌肉的对应值为37％。在这项研究中，我们通过编织两次使McKibben薄肌收缩了41％。如果更多地编织肌肉，则收缩率会增加。然后他们将克服收缩的局限性。在本报告中，设计，制作，建模和测试了具有不同编织时间的几种肌肉原型。结果是，从理论和实验的观点都证实了收缩率的增加。结果令人鼓舞。我们认为，在需要高收缩率的情况下，反复编织的McKibben细肌肉将极大地帮助改善和开发各种软机器人应用。