人体腱の非線形特性を模擬する弾性要素一体型腱駆動アクチュエータモジュールの設計

抄録

This paper describes design of spring-integrated tendon-driven actuator module with nonlinear property of human tendon. The module is designed to achieve characteristics of variable stiffness in wider tension range like human tendon. Its mechanism is designed as the combination of an electrical motor with tendon-driven mechanical structure. Correct tendency in nonlinear elasticity was confirmed through verification.