Abstract
This paper proposed a kind of tendon driven robot arm structure using ball joints and parallelogram. Proposed mechanism can realize slide and twist motion with simple structure. In the tendon driven mechanism, artificial muscles are developed which uses both the SMA actuators and the elastica. In order to control the structure, we use the internal force term at the desired position. Concept of the controller was based on the analysis of the human motion as the cascade control strategy. The proposed mechanism can realize a force controller of the muscles that uses both the discrete-time and the continuous-time controller. Then, we can develop such as an impedance controller or various controllers depending on the desired tasks.
