筋骨格ヒューマノイドにおける頸部筋群負荷を支持可能な剛性可変脊椎構造の開発

DOI Web Site 被引用文献2件 参考文献7件 オープンアクセス

書誌事項

タイトル別名
  • Development of Musculoskeletal Spine Structure with Variable Stiffness to Resist Force of Neck Muscles
  • キンコッカク ヒューマノイド ニ オケル ケイブキングン フカ オ シジ カノウ ナ ゴウセイ カヘン セキツイ コウゾウ ノ カイハツ

この論文をさがす

抄録

Human has a strong spine which can generate dynamic and flexible motion. We focus on its mechanisms and implement them to a robot spine of a musculoskeletal humanoid through hardware design. First, this paper describes methods to develop the robot spine which has both strength and flexibility. We separated 3 vertebra groups from the spine like a human and applied some machining methods to each group. Second, we show a human-like muscle arrangement of the spine including planar muscles. The planar muscles have larger surface and power than linear muscles designed with conventional methods. Therefore, the spine can keep its posture even if it receives force by a dynamic arm motion. Finally, we show a variable stiffness system of the spine to resist an impact by which the spine structure and muscles damage. We tested the system in the situation of whiplash injury which often occur in rear-end collision in a vehicle body.

収録刊行物

被引用文献 (2)*注記

もっと見る

参考文献 (7)*注記

もっと見る

関連プロジェクト

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ