Journal
ADVANCED ROBOTICS
Volume 32, Issue 15, Pages 865-878Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/01691864.2018.1494040
Keywords
Musculoskeletal robot-arm; McKibben pneumatic artificial muscle; constructive approach
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Funding
- JSPS KAKENHI [16KT0015, 17H05908]
- Grants-in-Aid for Scientific Research [17H05908, 16KT0015] Funding Source: KAKEN
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This paper describes the construction and design decisions of an anthropomorphic musculoskeletal robot arm actuated by pneumatic artificial muscles. This robot was designed to allow human-inspired compliant movements without the need to replicate the human body-structure in detail. This resulted in an mechanically simple design while preserving the motoric characteristics of a human. Besides the constructional details of the robot we will present two experiments to show the robots abilities regarding to its dexterity and compliance.
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