空気圧人工筋を用いた無限回転アクチュエータの開発

抄録

To realize safe and easy collaboration between humans and robots, Pneumatic Artificial Muscles (PAM) have been studied as a lightweight and flexible actuator. However, conventional methods require PAM to be longer and larger to obtain a large displacement and force. The robot mechanism using PAM tends to be specially designed, and it reduces the universality and maintainability. To improve safety and easiness of robots, an Unlimitedly Rotatable Pneumatic Actuator (URPA), which has inherent flexibility of PAM, is proposed.