2A1-C28 ミニチュアヒューマノイドの手首用3自由度パラレルワイヤ機構

概要

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In our previous work, a wearable robot named telecommunicator was introduced to enhance human communication beyond long distance. The person on the local site can communicate with people on the remote site through the telecommunicator. The first prototype of the telecommunicator T1 has typical robot appearance with a 2-DOF hand and a 2-DOF head. It acts as an avatar of the operator and provides realistic sensation for the operator as if the operator was in the remote site. However, human communications require presence of the operator in the remote site. To overcome the problem, a miniature humanoid MH-1 has been developed. It has human like appearance with two 4-DOF arms and a 3-DOF head. Currently, to enhance the presence of the operator, MH-2 which has two 7-dof arms, a 3-dof head and a 3-dof body is under developing. In this paper, to achieve small 7-DOF arm, a 3-DOF parallel wire mechanism for a wrist is proposed. A prototype model shows its feasibility.