弾性紐を用いた関節の剛性の測定

抄録

This paper presents joint with elastic cord and measurement of joint stiffness. The flexibility of robot joints is one of the factors required for human-robot coexistence. In order to make the joints flexible, we focused on flexible strings and listed the advantages of using strings as joint structures. Thus, we propose a joint with elastic cord. The structure of the joint with elastic cord and the structure of the net composed of the elastic cord used for the joint are described. The fabricated joints with elastic cord were measured. From the experimental results, the relationship between the structure of the net and the stiffness against the direction and angle of joint flexion was discussed.