Abstract
This paper focuses on a control of a joint including a viscoelastic object. The viscoelastic object corresponds to a cartilage of a human joint. This joint is referred to as a loosely coupled joint. First, we model a viscoelastic object of the cartilaginous area of a loosely coupled joint to formulate dynamic equations of the link. Based on the dynamic equations, we simulate the link motion to analyze the stability of the link in its angle control. Finally, we construct a prototype to experiment it in angle control of the link. From these results, we find the angle of the link by I control both in experiment and in simulation.
