弾性体と多孔質リンクの強固な接続の実現とアクチュエータ化に向けた検討

抄録

Aiming to realize a human-friendly robot that can play an active role in coexistence with humans, the long-term goal is to develop an endoskeleton-type musculoskeletal robot with a flexible pair. In this study, we propose a strong connection method between an elastic body and a link for the realization of a flexible pair. In order to confirm the connection strength of the proposed connection method, we made a simple verification model in which an elastic body was connected to the link and conducted a tensile test. In addition, in order to propose the application using the proposed connection method, we made a simple McKibben pneumatic artificial muscle connected to the link using this connection method.