筋骨格ロボットの足部アーチ構造におけるコンプライアンス特性

抄録

The developed foot arch structure of musculoskeletal robot with thin McKibben muscles has realized variable rigidity of foot arch structure specific to musculoskeletal mechanism. The foot arch structure has a role of absorbing shock and changing stiffness of the foot by muscle contraction. In this paper, we report that musculoskeletal robotic foot arch structure similar to that of humans has been developed and variable stiffness mechanism in the foot arch structure has been realized with contraction of the posterior tibialis muscle and long peroneal muscle.