An Upper Limb Robot Including Biomimetic Elbow Joint Mechanism with Ligament Structure

Abstract

In a previous study, we developed an elbow joint mechanism that mimics a biological joint. In this paper, we developed a wire-driven mechanism that performs flexion and extension movements with a single motor as a driving mechanism for the elbow joint mechanism. In addition, a biomimetic upper limb robot was developed by combining the elbow joint mechanism and the shoulder joint mechanism developed in the previous study. Furthermore, we were able to estimate the maximum arm tip force by measuring the arm tip force of the robot. The robot was given a sinusoidal target trajectory and operated.