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  [in Japanese] Development of Musculoskeletal Spine Structure with Variable Stiffness to Resist Force of Neck Muscles  [in Japanese]

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Author(s)

    • 茂木 陽太郎 Motegi Yotaro
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 川崎 宏治 Kawasaki Koji
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 上月 豊隆 Kozuki Toyotaka
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 白井 拓磨 Shirai Takuma
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 浅野 悠紀 Asano Yuki
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 中西 雄飛 Nakanishi Yuto
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 岡田 慧 Okada Kei
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 稲葉 雅幸 Inaba Masayuki
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology

Abstract

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.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 32(7), 615-623, 2014

    The Robotics Society of Japan

Codes

  • NII Article ID (NAID)
    130004697452
  • Text Lang
    JPN
  • ISSN
    0289-1824
  • Data Source
    J-STAGE 
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