剛性可変機能を有する拮抗筋型腱駆動システムとその制御

抄録

This paper presents a new method for mechanical stiffness control of the tendon-driven joints of manipulator. First one proposes a new formula for controlling joint stiffness and joint angle independently. Next, one proposes a new elastic mechanism (Non-Linear Elastic Module, NLEM) of which nonlinear elasticity is easily designed. NLEMs situated between the actuator and the tendon play a key role for mechanical control of the stiffness. Two types of NLEM are designed and evaluated numerically and experimentally. It follows a computer simulation and experiments of the stiffness and joint displacement control, which show a validity of the proposed formula. One also proposes a simple method of vibration suppression of the tendon-driven joint, which makes use of a nonlinear elasticity of NLEMs. It also follows a computer simulation to certify its validity.