Evaluation of smoothness of operation according to the Activity time phase of each TSAs in the Distributed Cooperative Driven Soft-Actuator System (DCD-SAS)

Abstract

The purpose of this research is to investigate the effect of the difference in the activity time phase of TSA on the smoothness of the movement of the mechanism when the drive number change control is applied to the distributed cooperative drive soft-actuator system (DCD-SAS) that imitates human muscles. The drive timing of each TSA is changed to 0, 10, 50, 100 ms, and the contraction speed waveform of a single TSA is compared with the contraction speed waveform of the entire mechanism when multiple TSAs are driven with a time difference. However, the drive timing close to the shape of the contraction velocity waveform of a single unit was obtained as a smooth movement. As a result, it was clarified that the smoothest movement was achieved with a time difference of 10 ms.