剛性可変機能を有するきっ抗筋型けん駆動システムとその制御

書誌事項

タイトル別名
  • Mechanical Stiffness Control of Tendon-Driven Joints.
  • ゴウセイ カヘン キノウ オ ユウスル キッコウキンガタケンクドウ システム ト ソノ セイギョ

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This paper presents a new method for mechanical stiffness control of the tendon-driven joints of manipulator. First one proposes a new formula for controlling joint stiffness and joint angle independently. Next, one proposes a new elastic mechanism (Non-Linear Elastic Module, NLEM) of which nonlinear elasticity is easily designed. NLEMs situated between the actuator and the tendon play a key role for mechanical control of the stiffness. Two types of NLEM are designed and evaluated numerically and experimentally. It follows a computer simulation and experiments of the stiffness and joint displacement control, which show a validity of the proposed formula. One also proposes a simple method of vibration suppression of the tendon-driven joint, which makes use of a nonlinear elasticity of NLEMs. It also follows a computer simulation to certify its validity.

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