In the present work, the modeling of a human arm has been carried out in its antagonistic actuation mode. Here, the functions of the biceps and triceps muscles are replaced by a pneumatic artificial muscle (PAM) and a spring to lift the required mass. The governing nonlinear equation of motion has been derived considering the system as a single degree of freedom system. Here, the muscle force has been considered as a function of operating pressure, material properties and dimensions of the muscle. The expression for the muscle force is obtained by performing a series of experiments. The approximate solutions, stability and bifurcations have been studied using the second order method of multiple scales (MMS). Further, an experimental setup has been designed and developed to validate the theoretical work. The fundamental frequencies and the responses obtained from the experiments are found to be in good agreement with those obtained using the method of multiple scales. This study will help the bioengineer or researchers to get an idea about the safe operating range of system parameters for various applications of the PAM.

在当前的工作中，已经以其对立的致动模式进行了人体手臂的建模。在此，二头肌和三头肌的功能被气动人造肌肉（PAM）和弹簧代替，以举起所需的质量。已将系统视为单自由度系统，得出了控制非线性运动方程。在此，已经将肌肉力视为操作压力，材料特性和肌肉尺寸的函数。肌肉力的表达是通过进行一系列实验获得的。使用二阶多尺度（MMS）方法研究了近似解，稳定性和分支。此外，已经设计并开发了实验装置以验证理论工作。发现从实验获得的基本频率和响应与使用多尺度方法获得的那些基本吻合。这项研究将帮助生物工程师或研究人员对用于PAM各种应用的系统参数的安全操作范围有所了解。