Study of Functional Manipulator with The Artificial Muscle and Human Skeleton

以形状记忆合金(SMA)为材料，利用形状记忆合金(SMA)作为材料，研究了一种新型的功能机械手，该执行器不具有普通液压驱动机构和电机，而是具有仿生活体骨骼肌的结构和功能。作为一种结构，与活的骨骼肌的最小单位相同的人工肌节被平行和严重地连接成人工肌肉。而不是使用螺旋弹簧来获得重塑动力。具有明显的拮抗结构。此外，我们计划制造一种具有相同人类结构和功能的机械手(手臂和手假体)，不是“普通的机器人方式”，而是将不同的肌肉引入人类骨骼(骨骼和关节)的方式。第一年，设计和制造了具有对抗性结构的人工肌肉和SMA人工肌节。这(最后)年，发展了动力学分析的机械手设计方法。该设计方法是通过引入人工肌肉的特征方程进行动态仿真建立的，该人工肌肉与活体骨骼肌具有相同的、随使用目的容易改变的特性，并利用该设计方法对人体手臂解剖特征引入的人工肌肉的骨关节模型进行了计算机仿真。因此，评估各种负荷造成的不稳定性，可以通过调整肌肉的踝关节位置轻松进行。

A study of the functional manipulator with a newly developed actuator, which has not ordinary hydrauric driven mechanisms nor electric motors but has bio-mimicked structures and functions of the living skeletal muscle, was performed.As a material, Shape Memory Alloy (SMA), which is capable of direct energy conversion from heat to mechanical power and has flexibility with silent sounds, was utilized. AS a structure, an artificial sarcomere, which is the same as the minimum unit of the living skeletal muscle, was connencted in parallel and in serious into an artificial muscle. Instead of using coil spring to get reshaping power. antagonistic structure was featured. Furthermore, we planned to make a manipulator (arm and hand prosthesis) which has same human structures and functions not as an "ordinary way of robots" but the way of introducing the arificial muscle to the human skeleton (bone and joint).It the first year, the artificial muscle with the antagonistic structure and of the SMA artificial sarcomere was designed and fabricated.In this (the last) year, the manipulator design method of dynamic analysis was developed. This design method, that is, was established by dynamic simulation introduced by the characteristic equation of the artificial muscle, of which is the same as the living skeletal muscle, and had an easily changeable property by the aim of use.By means of this design method, computer simulations of the model of bone and joint with the artificial muscle, which were introduced by the anatomical characteristics of the human arm, were done. Therefore, evaluation of unstability caused by a variety of load performed with ease by adjusting the muscle ankering point.