抄録
Human shoulder has ball joint mechanism which can allow 3 degree of freedom, in a compact structure compared to general robot arm joint systems. In this paper, we aim to develop new joint mechanism which has ball-joint mechanism driven by wires around rotator cuff. As for designing these structure, we learn an anatomical structure of human shoulder joint. Then, the experimental model is made up and evaluated by detecting the moment arm produced by ball joint movement. On 6 wire model, the joint system with sufficient moment arm enables it to move in full range in specified motion area. The report shows the experimental result of arm trajection produced by PI control method which has Neural Network furnished in feed back loop.
