Pneumatic artificial muscles conventional electric motors and hydraulic cylinders. Pneumatic artificial muscles Pneumatic artificial muscles (PAMs) are contractile or extensional devices operated by pressurized air filling a pneumatic bladder. In an approximation of human muscles, PAMs are usually grouped in pairs: one agonist and one antagonist. PAMs were first developed (under the name of "McKibben Artificial Muscles") in the 1950s for use in artificial limbs. The Bridgestone rubber company (Japan) commercialized the idea in the 1980s under the name of Rubbertuators. The retraction strength of the PAM is limited by the sum total strength of individual fibers in the woven shell. The exertion
Limbs of the horse consists of the suspensory ligament, the check ligament, the deep digital flexor tendon, the superficial flexor tendon, the common digital extensor tendon and the sesamoid bones. Horses use a group of ligaments, tendons and muscles known as the stay apparatus to "lock" major joints in the limbs, allowing them to remain standing while relaxed or asleep. The lower part of the stay apparatus consists of the suspensory apparatus, which is the same in both sets of limbs, while the upper portion differs between the fore and hind limbs. The upper portion of the stay apparatus in the forelimbs includes the