抄録
Recent trend in developing a humanoid is to mimic the human body. By having humanlike body dynamics and sensory feedback, robots is expected to be able to use the human environment and tools naturally. This paper describes the design of our new musculoskeletal robot arm with an anthropomorphic hand. The arm is driven by McKibben air muscles with strain gauges and pressure sensors to simulate muscular feedback. The hand is covered with a flexible tactile sensor to afford cutaneous sense. Experimental result shows that the robot can detect a button from these sensory feedbacks by pushing a finger on it.
