Anthropomorphic musculoskeletal 10 degrees-of-freedom robot arm driven by pneumatic artificial muscles. (3rd August 2018)

• Record Type: Journal Article
• Authors: Hitzmann, Arne; Masuda, Hiroaki; Ikemoto, Shuhei; Hosoda, Koh
• Is Part Of: Advanced robotics. Volume 32:Number 15(2018)
• Page Start: 865
• Page End: 878
• Publication Date: 2018-08-03
• Subjects: Musculoskeletal robot-arm -- McKibben pneumatic artificial muscle -- constructive approach; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2018.1494040
• Languages: English
• ISSNs: 0169-1864

Abstract

ABSTRACT: 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. GRAPHICAL ABSTRACT: