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Erschienen in:
2013 | OriginalPaper | Buchkapitel
Antagonistic Control of Multi-DOF Joint
verfasst von : Koichi Koganezawa
Erschienen in: Experimental Robotics
Verlag: Springer International Publishing
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This paper presents a mechanical system that fundamentally mimics a human musculo-skeletal system aiming for using it in anthropomorphic robots or artificial limbs for disabled persons. At first, it introduces a mechanical module called ANLES (Actuator with Non-Linear Elasticity System). A new type of ANLES; rotary-type ANLES is introduced first in this paper, in addition to the formerly developed ANLES; linear type ANLES. They can be used like a voluntary muscle in a musculo-skeletal structure. Next it derives dual equations to independently control joint angle and joint stiffness, in which antagonistic alignment of the ANLESes similar to a musclo-skeletal system is premised. It follows to show an application of the two types of ANLES into a three DOF artificial joint arranged to use as a wrist joint of an anthropomorphic robot. The experimental results of the joint stiffness and joint angle control elucidates that the developed mechanism effectively mimics the human musculo-skeletal system.