Studies and guidelines on the design of the "Dohelix" technical muscle

In this study the properties and guidelines for designing a recently technical muscle, the so called "DOHELIX-muscle", are presented. This muscle is composed of standard components, scaleable with many respects, and may be useful for various applications in robotics and industry. However, so far only the design principle and some applications have been described, but the muscle is not well understood in detail. This paper focuses on studying the properties of the muscle in theory and explains practical implementation issues. Furthermore, guidelines on the design of the muscle to achieve an optimal setup are given.