| Project/Area Number |
18560258
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tokai University |
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Principal Investigator |
KOGANEZAWA Koichi Tokai University, Department of Mechanical Engineering, Professor (10178246)
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| Co-Investigator(Kenkyū-buntansha) |
YAMAMOTO Yoshio Tokai University, Department of Mechanical Engineering, Professor (20272114)
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| Project Period (FY) |
2006 – 2007
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| Project Status |
Completed (Fiscal Year 2007)
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| Budget Amount *help |
¥3,860,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥360,000)
Fiscal Year 2007: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2006: ¥2,300,000 (Direct Cost: ¥2,300,000)
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| Keywords | Non-linear elasticity / Antagonistic driving / Stiffness control / 拮抗駆動 / 非線形弾性特性 |
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| Research Abstract |
This study deals with mechanical stiffness control of multi-DOF joint. It fundamentally mimics the skeleto-muscular system of human articulation, in which at least two muscles handle one rotary axis under their antagonistic (counteractive) action.
In the years before the research period of the grant we have developed basic formula for controlling the multi-DOF rotary joint that is assumed to be driven by a couple of novel actuators that are called ANLES (Actuator with Non-Linear Elastic System). It mimics a skeletal muscle in the sense of having a non-linear elasticity. Next in the, research period of the grunt we developed the structure of the ANLES and constructed the three DOF wrist joint for an anthropomorphic robot that is controlled by four ANLES. The experimental results of controlling the stiffness of the joint reveal that the joint angle and the joint stiffness can be independently controlled successfully by the proposed mechanism and the proposed formula.
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