Anthropomorphic musculoskeletal 10 degrees-of-freedom robot arm driven by pneumatic artificial muscles
Anthropomorphic musculoskeletal 10 degrees-of-freedom robot arm driven by pneumatic artificial muscles
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DOI：
10.1080/01691864.2018.1494040
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发表时间：
2018-01-01
影响因子：
2
通讯作者：
Hosoda, Koh
中科院分区：
文献类型：
--
作者：
Hitzmann, Arne;Masuda, Hiroaki;Hosoda, Koh
本文描述了由气动人造肌肉驱动的拟人肌肉骨骼机器人手臂的构造和设计决策。该机器人的设计目的是允许仿人类的顺应运动，而不需要详细复制人体结构。这导致了机械简单的设计，同时保留了人类的运动特征。除了机器人的结构细节之外，我们还将展示两个实验来展示机器人在灵活性和顺应性方面的能力。
This paper describes the construction and design decisions of an anthropomorphic musculoskeletal robot arm actuated by pneumatic artificial muscles. This robot was designed to allow human-inspired compliant movements without the need to replicate the human body-structure in detail. This resulted in an mechanically simple design while preserving the motoric characteristics of a human. Besides the constructional details of the robot we will present two experiments to show the robots abilities regarding to its dexterity and compliance.