Development and verification of tendon-driven rotary actuator for haptics with flexible actuators and a PE line

In the future, robots will be important device widely in our daily lives to achieve complicated tasks. To achieve the tasks, there are some demands for the robots. In this paper, two strong demands of them are taken attention. First one is multipledegrees of freedom (DOF), and the second one is miniaturization of the robots. Although rotary actuators is necessary to get multiple-DOF, miniaturization is difficult with rotary motors which are usually utilized for multiple-DOF robots. Here, tendondriven rotary actuator is a candidate to solve the problems of the rotary actuators. The authors proposed a type of tendon-driven rotary actuator using thrust wires. However, big mechanical loss and frictional loss occurred because of the complicated structure of connection points. As the solution for the problems, this paper proposes a tendon-driven rotary actuator for haptics with thrust wires and polyethylene (PE) line. In the proposed rotary actuator, a PE line is used in order to connect the tip points of thrust wires and the end effector. The validity of the proposed rotary actuator is evaluated by experiments.