Development of two-link manipulator equipped with biarticular muscle mechanism using flexible actuator

Yuki Saito; Wataru Motooka; Takahiro Nozaki; Daisuke Yashiro; Kouhei Ohnishi

doi:10.1541/ieejias.132.397

Development of two-link manipulator equipped with biarticular muscle mechanism using flexible actuator

Yuki Saito, Wataru Motooka, Takahiro Nozaki, Daisuke Yashiro, Kouhei Ohnishi

システムデザイン工学科

研究成果: Article › 査読

2 被引用数 (Scopus)

抄録

In this paper, a novel mechanism and a controller for two-link manipulators with two monoarticular muscle mechanisms and one biarticular muscle mechanism are proposed. The monoarticular and biarticular muscle mechanisms are actuated by eight flexible actuators that consist of one linear motor and one thrust wire. The validity of the mechanism and controller is confirmed by experiments.

本文言語	English
ページ（範囲）	397-403
ページ数	7
ジャーナル	ieej transactions on industry applications
巻	132
号	3
DOI	https://doi.org/10.1541/ieejias.132.397
出版ステータス	Published - 2012

ASJC Scopus subject areas

産業および生産工学
電子工学および電気工学

文献へのアクセス

10.1541/ieejias.132.397

他のファイルとリンク

引用スタイル

@article{56c1d4a31e0841bcad6498fdaa12d447,

title = "Development of two-link manipulator equipped with biarticular muscle mechanism using flexible actuator",

abstract = "In this paper, a novel mechanism and a controller for two-link manipulators with two monoarticular muscle mechanisms and one biarticular muscle mechanism are proposed. The monoarticular and biarticular muscle mechanisms are actuated by eight flexible actuators that consist of one linear motor and one thrust wire. The validity of the mechanism and controller is confirmed by experiments.",

keywords = "Antagonistic drive, Biarticular muscle, Flexible actuator, Monoarticular muscle",

author = "Yuki Saito and Wataru Motooka and Takahiro Nozaki and Daisuke Yashiro and Kouhei Ohnishi",

year = "2012",

doi = "10.1541/ieejias.132.397",

language = "English",

volume = "132",

pages = "397--403",

journal = "IEEJ Transactions on Industry Applications",

issn = "0913-6339",

publisher = "The Institute of Electrical Engineers of Japan",

number = "3",

}

TY - JOUR

T1 - Development of two-link manipulator equipped with biarticular muscle mechanism using flexible actuator

AU - Saito, Yuki

AU - Motooka, Wataru

AU - Nozaki, Takahiro

AU - Yashiro, Daisuke

AU - Ohnishi, Kouhei

PY - 2012

Y1 - 2012

N2 - In this paper, a novel mechanism and a controller for two-link manipulators with two monoarticular muscle mechanisms and one biarticular muscle mechanism are proposed. The monoarticular and biarticular muscle mechanisms are actuated by eight flexible actuators that consist of one linear motor and one thrust wire. The validity of the mechanism and controller is confirmed by experiments.

AB - In this paper, a novel mechanism and a controller for two-link manipulators with two monoarticular muscle mechanisms and one biarticular muscle mechanism are proposed. The monoarticular and biarticular muscle mechanisms are actuated by eight flexible actuators that consist of one linear motor and one thrust wire. The validity of the mechanism and controller is confirmed by experiments.

KW - Antagonistic drive

KW - Biarticular muscle

KW - Flexible actuator

KW - Monoarticular muscle

UR - http://www.scopus.com/inward/record.url?scp=84859078850&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84859078850&partnerID=8YFLogxK

U2 - 10.1541/ieejias.132.397

DO - 10.1541/ieejias.132.397

M3 - Article

AN - SCOPUS:84859078850

SN - 0913-6339

VL - 132

SP - 397

EP - 403

JO - IEEJ Transactions on Industry Applications

JF - IEEJ Transactions on Industry Applications

IS - 3

ER -

Development of two-link manipulator equipped with biarticular muscle mechanism using flexible actuator

抄録

ASJC Scopus subject areas

文献へのアクセス

他のファイルとリンク

フィンガープリント

引用スタイル