<br> ###Actuator In January 2019, Victoria Shen and Rob Hart worked with Axel Kilian at MIT, who has developed a practical method for making McKibben actuators from bicycle innertubes and plastic cable jacket webbing. Below are photographs from the construction of three actuators in the MIT architecture shop. [References](./references) from Axel, including some sources of hardware.   Delrin end-piece, bored for tap threads, shaped to hold hose-clamped rubber tube and plastic braid.   Methods for taping delrin endpiece, taping and trimming sleeve.   Finished actuator. Control box, including pressure sensor.  Axel's plenum for testing devices. <br> <br> <br> ###Demonstration of actuator. [program for attiny45 microcontroller](valve.c) and [makefile](hello.45.make) [Eagle files](./Valve_driver.zip) Note that these files need rework: 1. Footprint for power socket not correct. 2. Cround trace needs to extend to regulator.   [movie](./McKibben_480.mov) Circuitboard for controlling solenoid valves. Runs on 8.4V with 5V regulator for microcontroller (attiny 45). Two solenoids (MOSFET switched). One button for fill, one for vent. Uses a small tank with regulator. Pneumatics: lower left, out. Upper left, in. Right, vent. Middle, to be used for pressure sensor.