Three DOF wrist joint - control of joint stiffness and angle-
Three DOF wrist joint - control of joint stiffness and angle-
复制标题
三自由度腕关节-关节刚度和角度的控制-
DOI：
10.1109/isie.2010.5637507
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
H. Yamashita
中科院分区：
文献类型：
--
作者：
K. Koganezawa;H. Yamashita
介绍了一种类似人腕关节的三自由度关节机构。它从根本上模仿人类的肌肉骨骼系统，不仅控制其关节角度，而且控制其关节刚度。关键的机构是最初开发的ANLES（非线性弹性致动器系统），可以用作随意肌。该机构由4个ANLESes和1个执行机构控制。本文首先介绍了关节角和腕部关节的作用机理。接下来，它展示了第二台机器，与第一台机器相比，它成功地缩小了体积和重量。它遵循控制关节角度和刚度的实验结果
A mechanism of three DOF joint similar to human wrist joint is introduced in this paper. It fundamentally mimics the human muscro-skeletal system to control not only its joint angle but also its joint stiffness. The key mechanism is the originally developed ANLES (Actuator with Non-Linear Elasticity System) that can be used as a voluntary muscle. The proposed mechanism is controlled by four ANLESes and one more actuator. This paper first presents the mechanism of ANLES and the wrist joint. Next it shows the second machine that succeeded dramatically downsizing of its volume and weight compared to the first machine. It follows the experimental results of controlling the joint angle and stiffness‥