| Budget Amount *help |
¥24,180,000 (Direct Cost: ¥18,600,000、Indirect Cost: ¥5,580,000)
Fiscal Year 2016: ¥9,490,000 (Direct Cost: ¥7,300,000、Indirect Cost: ¥2,190,000)
Fiscal Year 2015: ¥7,800,000 (Direct Cost: ¥6,000,000、Indirect Cost: ¥1,800,000)
Fiscal Year 2014: ¥6,890,000 (Direct Cost: ¥5,300,000、Indirect Cost: ¥1,590,000)
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| Outline of Final Research Achievements |
This study aimed to constructively investigate and exploit adaptability of human motor control by using a musculoskeletal robot arm with embedded sensors corresponding to proprioceptive organs. To this end, we proposed the shoulder complex linkage mechanism, which can provide the same mechanical constraints with that of a scapula, and developed a compact sensor system, which can generate the same responses with a muscle spindle and a tendon spindle, for the new musculoskeletal robot arm driven by pneumatic artificial muscles. By using the new musculoskeletal robot arm, we confirmed that the flexibility of the musculoskeletal system has advantages for tasks under mechanical constraints of the environment. In addition, we proposed a direct teaching method specialized for robots driven by pneumatic artificial muscles that is applicable even for the very complex musculoskeletal robot arm.
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