油圧人工筋肉を用いた7自由度パワーソフトロボットアームの開発

抄録

The mechanisms of the current robotics are completely different from the muscle driving mechanisms of humans or animals. The 7-DOF power soft robot arm driven by hydraulic artificial muscles developed in this study can potentially achieve the coexistence of strength and softness while having motion characteristics close to those of humans. This robot has two antagonistic joints on the shoulder, two asymmetrical antagonistic joints on the upper arm and the lower arm, and the wrist and elbow have rotational pull-wire drive joints, a total of 29 hydraulic artificial muscles.