A design of motion-support robots for human arms using hexahedron rubber actuators

A design of motion-support robots for human arms using hexahedron rubber actuators
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使用六面体橡胶执行器的人臂运动支撑机器人的设计

DOI：
10.1109/iros.1997.656560
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发表时间：
1997
期刊：
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97
影响因子：
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通讯作者：
Takaaki Shimizu
Takaaki Shimizu
中科院分区：
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文献类型：
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作者：
S. Kawamura;Y. Hayakawa;Masashi Tamai;Takaaki Shimizu

文献摘要

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在人与机器人之间的机械接触的情况下，包括运动支持机器人或机器人矫形器，安全是最重要的。因此，在本文提出的运动支撑机器人中，采用了重量轻、体积小、运动灵活的六面体橡胶驱动器。本文首先揭示了气压驱动的对抗性HRA装置的基本性能。并通过实验验证了四自由度运动支撑机器人的有效性。
In the case of mechanical contact between humans and robots including motion-support robots or robotic orthosis, safety is most important. Therefore, in the motion-support robot presented in this paper, hexahedron rubber actuators (HRA) which have light weight, small size and flexibility of motions are used. In this paper, the basic performance of an antagonized HRA unit which is actuated by air pressure is revealed at first. Moreover, effectiveness of a motion-support robot with 4 DOF is demonstrated through experimental results.