Force position concurrency control method with safety-drive of bi-articular muscle drive arm robot

关节肌是驱动人体四肢运动的重要肌肉。三对拮抗肌由六块肌肉组成。两个单关节和双关节肌肉的结合被定义为FEMS（肌肉功能启用）。结合行星齿轮机构，旋转电机3，采用3输入2输出，如何配置双关节肌肉已经提出。提出了一种采用双关节机械臂的位置阻尼控制方法。提出了机械臂的力控制系统。最后，我提出了一种利用双关节肌肉对重力和臂尖位置偏差进行补偿的力位并行控制方法。通过实验验证了系统的有效性。

i-articular muscle is an important muscles to drive the limbs of a human. Three antagonistic muscle pair is formed by six muscles. Combination of the two single-joint and bi-articular muscles, has been defined as FEMS (muscle function enabled). Combining a planetary gear mechanism, the rotary motor 3, using the 3-input 2-output, how to configure the bi-articular muscles have already been proposed. I proposed a position damping control of the robot arm was used the two joint robot arm. I proposed about the force control system of the robot arm.Finally, I have proposed a force position concurrency control method using bi-articular muscles can compensate the gravity and the positional deviation of the arm tip. I was confirmed by experiments effectiveness of the proposed system.