Anthropomorphic musculoskeletal 10 degrees-of-freedom robot arm driven by pneumatic artificial muscles

被引：25
|
作者：
Hitzmann, Arne [1 ]
Masuda, Hiroaki [1 ]
Ikemoto, Shuhei [1 ]
Hosoda, Koh [1 ]
机构：
[1] Osaka Univ, Grad Sch Engn Sci, 1-3 Machikaneyama, Toyonaka, Osaka 5608531, Japan
来源：
ADVANCED ROBOTICS | 2018年 / 32卷 / 15期
关键词：
Musculoskeletal robot-arm; McKibben pneumatic artificial muscle; constructive approach;
D O I：
10.1080/01691864.2018.1494040
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：865 / 878
页数：14
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