Development of a cybernetic shoulder-a 3-DOF mechanism that imitates biological shoulder motion
Development of a cybernetic shoulder-a 3-DOF mechanism that imitates biological shoulder motion
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DOI：
10.1109/tro.2004.838006
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发表时间：
2005-06
影响因子：
7.8
通讯作者：
M. Okada;Yoshihiko Nakamura
中科院分区：
文献类型：
--
作者：
M. Okada;Yoshihiko Nakamura
本文提出了一种用于仿人机器人的三自由度机构，我们称之为控制论肩部。该机构模仿人类肩膀的运动，没有固定的旋转中心，与传统的拟人化7自由度机械手设计不同，该机构实现了独特的类人运动，其基础三个关节轴在固定点相交。利用控制论肩部封闭的运动链，可以方便地引入弹性构件的被动柔顺。这对于类人机器人的综合安全非常重要，因为类人机器人本质上需要与人类进行物理交互。
In this paper, we develop a 3-degree of freedom (DOF) mechanism for humanoid robots, which we call the cybernetic shoulder. This mechanism imitates the motion of the human shoulder and does not have a fixed center of rotation, which enables unique human-like motion in contrast to the conventional design of anthropomorphic 7-DOF manipulators that have base three joint axes intersecting at a fixed point. Taking advantage of the cybernetic shoulder's closed kinematic chain, we can easily introduce the passive compliance adopting the elastic members. This is important for the integrated safety of humanoid robots that are inherently required to physically interact with the human.