Development of D3 Soft Actuator Using Liner Drive

Abstract

In the field of human interaction, soft actuator is needed for interpersonal operation. The soft actuator is required various skills such as high power (torque) drive, tenderness, angle control with high accuracy, and so on. Thus, we propose D3 (Dual Damper Drive) soft actuator. This actuator consists of two liner servomotor and elastic module, which connected at output shaft with antagonistic mechanism. We verify the performance of proposed system to perform torque control experiment using D3 actuator.