2020 Fiscal Year Annual Research Report
Parallel Elastic Tendons using Functional Fluid for Robotic Hands
| Project/Area Number |
19K14934
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| Research Institution | University of Tsukuba |
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Principal Investigator |
Hassan Modar 筑波大学, システム情報系, 助教 (20830201)
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| Project Period (FY) |
2019-04-01 – 2021-03-31
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| Keywords | mechanical linkage / assistive robots / elastic element |
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| Outline of Annual Research Achievements |
During this project we investigated parallel elastic tendons (PETs) in two technologies or wearable robotics: 1. Robotic ankle foot orthosis with PER, and 2. Lumbar support exoskeleton with PET. In both applications the PET shows promising results as an alternative to traditional actuators, or as a controllable link that improves the physical human-robot interaction.
In addition, we characterized the performance of PETs in terms or braking force regulation based on coil current and movement speed. The results showed the real-world performance of PETs to match the theoretical values derived from the earlier theoretical simulations. This verifies the design and development methods, and based on these measurement modelling of PETs will be viable for more sophisticated control methods.
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