A Mechanical Musculo-Skeletal System for a Human-Shaped Robot Arm

摘要

This paper presents a mechanical system with a similar configuration to a human musculo-skeletal system for use in anthropomorphic robots or as artificial limbs for disabled persons. First, a mechanical module called ANLES (Actuator with Non-Linear Elasticity System) is introduced. There are two types of ANLES: the linear-type ANLES and rotary-type ANLES. They can be used as a voluntary muscle in a wide-range of musculo-skeletal structures in which at least double actuators work in an antagonistic setup via some elastic elements. Next, an application of the two types of ANLES to a two-degree-of-freedom (DOF) manipulator that has a similar configuration to the human elbow joint is shown. The experimental results of the joint stiffness and joint angle control elucidate that the developed mechanism effectively regulates joint stiffness in the same way as a musculo-skeletal system.