Development of a Wire-Wound Muscle-Tendon Complex Drive and Its Validation in a Two-Dimensional Robot Configuration

Abstract

In this research, we implemented a two-dimensional configuration of the wire-wound Muscle-Tendon Complex Drive as an extension of the wire drive that focuses on muscle expansion and various deformations of tendons. A self-lubricating polytetrafluoroethylene (PTFE) plate was used as the deformable muscle exterior, and rubber, which can be formed into various shapes by stereolithography, was used as the tendon. This method was applied in a 1-axis, 3-muscle test robot to verify its advantages in driving and environmental contact, and its ability to resist loosening and protect internal conditions was confirmed. This method is considered to be promising in the future for the fabrication of flexible and high-performance robots.