1P1-P03 差動歯車機構を用いた人工筋肉マニピュレータの開発(バイオロボティクス)

概要

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In recent years, a robot's activity is spreading in the care spot or a home life. The robot that interact with humans not only requires high output but it should also be safe and flexible. To satisfy these requirements, we adopt a pneumatic artificial muscle as an actuator of robot manipulator. The pneumatic artificial muscle is lightweight and high power output. However, a McKibben-type artificial muscle commonly used for this purpose is problematic; therefore, we develop a straight-fiber-type artificial muscle that surpasses the McKibben type in regards to the output. We also develop two degrees of freedom artificial muscle manipulator with a differential gear mechanism. Moreover, we propose a control system for this manipulator about joint angle and stiffness.
一般社団法人日本機械学会の論文
2011-05-26