ワイヤーへの液体潤滑剤の供給機能を有する腱駆動機構の開発

抄録

The tendon-driven mechanism is not suitable for long-term drive because there is a problem that the wire is easy to be broken due to abrasion. The problem is a major factor of practical use. For these reason, imitating the animal's lubrication of the tendon, we developed a mechanism which permanently lubricates the wire by liquid lubricant circulation system for long-term drive. Experiments confirmed that this mechanism improved the wear resistance of the wire. From these results, the effect of liquid lubrication of wire can be confirmed, and the possibility that this mechanism has longer life than the conventional tendon drive mechanism was shown.