抄録
This paper reports the model of joint stiffness of manipulator driven by pneumatic actuators. We develop a new pneumatic actuator, which is smaller than ever actuator. This leads to realize an antagonistic drive system manipulator whose size is as same as human hand. However, as being smaller, a pneumatic actuator's hysteresis increases. It is necessary to construct the model of joint stiffness of manipulator for controlling it accurately. Therefore, we construct the model of joint stiffness of an antagonistic drive system manipulator. The model is constructed in consideration of pneumatic actuator's hysteresis. Therefore, compared with non-consideration actuator's hysteresis, it is expressed well.
