筋骨格ロボット顎関節の試作研究

抄録

By developing a musculoskeletal mastication robot using thin McKibben muscles based on human anatomy, we aim to realize the same motion and characteristics as a human. Conventional mastication robots have a big system and do not have all muscles of human because it is difficult for conventional motors to be attached. Because thin McKibben muscles are small enough to be densely attached, we can overcome these problems by applying them to the musculoskeletal mastication robot as skeletal muscle and can additionally realize a redundant system equivalent to the human drive mechanism. In this paper, we report a prototype of musculoskeletal mastication robot with thin Mckibben muscles.