Parallel Elastic Tendons using Functional Fluid for Robotic Hands

2020 Fiscal Year Final Research Report

• Project/Area Number: 19K14934
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: University of Tsukuba
• Principal Investigator: Hassan Modar 筑波大学, システム情報系, 助教 (20830201)
• Project Period (FY): 2019-04-01 – 2021-03-31
• Keywords: mechanical linkage / assistive robots / elastic element

Outline of Final Research Achievements

During this project we investigated the basic properties and construction of parallel elastic tendons (PETs). We also investigated their application in wearable robotics: 1. Robotic ankle foot orthosis, 2. Lumbar support exoskeleton, and 3. prosthetic hand with a passive PET. The results showed that PETs can be 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 of 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.

Free Research Field

ロボティクスおよび知能機械システム

Academic Significance and Societal Importance of the Research Achievements

This work investigated and modeled a new type of semi-active actuators based on smart fluid technology (PET). We explored practical and affordable wearable robot technology; ankle foot orthosis and lumbar support robots, that could improve the health care and worker support technology in society.