ベルトを介した力伝達が可能な空気圧ゴム人工筋の開発

抄録

In this research, we develop an artificial rubber muscle capable of force transmission using a belt. Proposed artificial muscle can generate a contraction force by sealing up with attached belt. The artificial muscle is configured by an elliptical rubber tube, a fiber sleeve, and two belt fixing mechanisms. Belt fixing mechanism fixes the artificial muscle by friction between the belt and rubber material. Proposed artificial muscle attached onto the belt can transmit the contraction force through the belt by supplying a compressed air. In this paper, we discuss the structure and principle of operation of the artificial muscle. Thereafter, the rubber material, which is attached in the artificial muscle, to fix the belt in is determined from a comparison of the friction coefficient.