Abstract
This paper describes the development of a 5 DOF human-friendly robot ann. A new collision force suppression mechanism that is operated by pressure air is installed in each joint of the arm. Also, the arm is covered by an air cushion bag. When a collision between an object and the arm occurs, the collision force is passively suppressed by the collision force suppression mechanism and the air cushion. Using the ann, collision experiments are conducted, and the effectiveness of the collision force suppression mechanism is confirmed.
