This paper focuses on explaining the proposition of an actuator system using a pneumatic artificial muscle and a robot arm we developed. The pneumatic artificial muscle is light weight, and has high output and flexibility. Therefore, by incorporating this into the actuator of a robot arm, a light and flexible mechanism can be created and protection against collision etc. can be ensured.However, in the case of an automatically balancing using a simple pneumatic artificial muscle as an actuator, it is difficult to realize enough joint drive angle, because the contractive capability of the artificial muscle is limited. In this study, the structure of the pneumatic artificial muscle and the contraction characteristics are described and the structure of the actuator system offset-posting the newly devised artificial muscle is explained. In addition, the test results for contraction characteristics and system effectiveness are shown. From function tests of the robot arm designed based on the above characteristics, we confirmed the system has a joint drive angle equal to the human arm.

This article reports the pneumatic artificial muscles based on biomechanical characteristics of human muscles. A wearable device and a rehabilitation robot that assist a human muscle should have characteristics similar to those of human muscle. In addition, since the wearable device and the rehabilitation robot should be light, an actuator with a high power to weight ratio is needed. At present, the McKibben type is widely used as an artificial muscle, but in fact its physical model is highly nonlinear. Therefore, an artificial muscle actuator has been developed in which high-strength carbon fibres have been built into the silicone tube. However, its contraction rate is smaller than the actual biological muscles. On the other hand, if an artificial muscle that contracts axially is installed in a robot as compactly as the robot hand, big installing space is required. Therefore, an artificial muscle with a high contraction rate and a tendon-driven system as a compact actuator were developed, respectively. In this study, we report on the basic structure and basic characteristics of two types of actuators.

No abstract

This article reports the pneumatic artificial muscles based on biomechanical characteristics of human muscles. A wearable device and a rehabilitation robot that assist a human muscle should have characteristics similar to those of human muscle. In addition, since the wearable device and the rehabilitation robot should be light, an actuator with a high power to weight ratio is needed. At present, the McKibben type is widely used as an artificial muscle, but in fact its physical model is highly nonlinear. Therefore, an artificial muscle actuator has been developed in which high-strength carbon fibres have been built into the silicone tube. However, its contraction rate is smaller than the actual biological muscles. On the other hand, if an artificial muscle that contracts axially is installed in a robot as compactly as the robot hand, big installing space is required. Therefore, an artificial muscle with a high contraction rate and a tendon-driven system as a compact actuator were developed, respectively. In this study, we report on the basic structure and basic characteristics of two types of actuators.

No abstract