圧力信号をトリガとした筋骨格ロボットのペダリング

抄録

Bicycle is a tool in everyday life that allows you to travel farther and faster.It is important to consider a design that allows the human musculoskeletal structure to efficiently transmit the forces that can be generated to the bicycle.The purpose of this research is to constructively elucidate how humans generate force when pedaling by using a robot that imitates the human musculoskeletal structure. For the analysis, in this report, we developed a robot driven by pneumatic artificial muscle and realized a pedaling by using a pressure signal inside the artificial muscle as a trigger.As a result, pedaling was realized by using the pressure drop as a trigger.