外骨格型ワイヤ駆動連続体ロボットの開発

抄録

Wire-driven continuum robots exhibit great capabilities for manipulation and locomotion in complex and unstructured environments due to their inherent compliance, flexibility, and dexterity. This paper proposes a wire-driven exoskeleton continuum robot which has high rigidity and can exhibit hyper multi-DOF. First, the structure and actuation design of the proposed exoskeleton continuum robot is discussed. Then the control system is presented along with the application of deep learning in creating a model to find the relationship between the wire pull-lengths and robot arm posture coordinates. Finally, an experiment was carried out using that deep learning model and the results were discussed. The accuracy from the experiment was found to be 10.22 mm in average.