Design of Deformation with Expansion Using Arched Structural Materials and Application to Wire-Wound Artificial Muscles

Abstract

In this study, we incorporated the geometric deformation of muscle tendons into the wire drive and realized a wire-wound Muscle-Tendon Complex Drive that can be used in 3-dimensional movements and body configurations. For the muscle exterior, a 3-dimensional shape is realized from a frame whose deformation is determined by the deflection of an arch-shaped structural material and a braided sleeve that covers the entire surface of the frame. We applied these muscle exteriors to a 2-axis 3-muscle robot and confirmed that the robot can flexibly deform itself in response to contact with the environment while continuing its movements. This method is considered to be promising for the fabrication of robot bodies suitable for environmental contact in the future.