Actuator with Non-Linear Elastic System(ANLES) and Stiffness Control of Multi-DOC Joint usingANLES

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This study deals with mechanical stiffness control of multi-DOF joint. It fundamentally mimics the skeleto-muscular system of human articulation, in which at least two muscles handle one rotary axis under their antagonistic (counteractive) action.In the years before the research period of the grant we have developed basic formula for controlling the multi-DOF rotary joint that is assumed to be driven by a couple of novel actuators that are called ANLES (Actuator with Non-Linear Elastic System). It mimics a skeletal muscle in the sense of having a non-linear elasticity. Next in the, research period of the grunt we developed the structure of the ANLES and constructed the three DOF wrist joint for an anthropomorphic robot that is controlled by four ANLES. The experimental results of controlling the stiffness of the joint reveal that the joint angle and the joint stiffness can be independently controlled successfully by the proposed mechanism and the proposed formula.