Robots have entered human life, and closer relationships are being formed between humans robots. It is desirable that these robots be flexible lightweight. With this as our goal, we developed an artificial muscle actuator using straight-fiber-type muscles derived from the McKibben-type muscles, which excellent contraction rate force characteristics. In study, compared steady state dynamic characteristic of straightfiber-type verified usefulness muscles.

Recently, Japan has been witnessing an increase in the average age of agricultural workers and a decrease number new entrants into farming, both which are progressing year by due to country’s declining birthrate aging population. As result, expectations for substitution robots human-robot collaboration rising. Therefore, we propose robot arm built using straight-fiber-type pneumatic artificial muscle (SF-PAM) noncircular pulley. SF-PAM is sealed no sliding parts; thus, it excellent dustproof...

The Japanese agriculture industry, faced with the problem of declining and aging farmers, has keenly called for development body assist orthoses aiding agricultural workers. Therefore, in this study, we propose an endoskeleton-type knee joint orthosis assisting joints half-sitting postures or crouching postures. proposed uses two McKibben-type artificial muscles per leg four total, placed from waist to foot along forward part generate power. With use, contraction forces generated by are...

In this study, an artificial rubber muscle was selected as actuator because it is safe to be used a manipulator that comes into contact with the human body. However, vibrates and can cause delayed responses of air pressure applied manipulation. We built magnetorheological (MR) brake uses MR fluid fast response joint control vibration. we focus on variable damping brake. By brake, could apply torque depending rotational speed arm in manipulator. Moreover, viscosity coefficient its angle...

Highly rigid actuators such as geared motors or hydraulic are widely used in industrial robots. To obtain high-speed motion, it is necessary to increase the actuator output robot weight increases. In contrast, humans perform motions using instantaneous force, jumping throwing, via variable stiffness characteristics. We have developed a one-degree-of-freedom manipulator with rheological joint straight-fiber-type artificial muscle and magnetorheological (MR) brake. With generation of dead rise...

In recent times, the chances of robot–human contact have increased; hence, safety is necessitated with regard to such contact. Thus, manipulators using a pneumatic rubber artificial muscle, which lightweight and flexible, are studied. However, this muscle manipulator has faults as slow response limited instantaneous power due operation by air pressure. Because these faults, uncontrollable vibrations can occur, leading instability in arm when an object held lifted. study, one DOF variable...

Recently, lightweight and flexible soft actuators have attracted interest from robotics researchers. We focused on pneumatic rubber artificial muscle (PAM) as a high-output actuator. The high compliance of PAM allows robot to adapt flexibly the environment without many external sensors. Although has these characteristics, it is difficult control because nonlinearity between input output delay air response. This limits accuracy muscles complicates motion planning. Therefore, we considered...

Robots have entered human life, and closer relationships are being formed between humans robots. It is desirable that these robots be flexible lightweight. For this reason, we studied developed an artificial muscle actuator using straight-fiber-type muscles derived from the McKibben-type muscles, which excellent contraction rate force characteristics. However, highly nonlinear characteristics, as well high compliance a strong hysteresis characteristic. Hence, it difficult to control...

Recently, proposed applications of robots require them to contact human safely. Therefore, we focus on pneumatic rubber artificial muscle. This actuator is flexible, light, and has high-power density. However, because the muscle it vibrates when there a high load. paid attention magnetorheological (MR) fluid. We propose control method MR brake considering energy manipulator system. By this method, dissipates leading vibration manipulator. In paper, calculated controlled brake. And,...

An artificial rubber muscle was used as an actuator in the present study because it safe for manipulator to come into contact with human body. However, this vibrates and can cause late responses of air pressure that is applied manipulation. We have built a magnetorheological (MR) brake uses MR fluid fast response joint control vibration. In paper, we described manipulator's dynamic characteristics by construction model improvement performance brake. Furthermore, simulation performed using...

An artificial rubber muscle as an actuator was paid attention in this study because the manipulator found to be safe human when it comes contact with human. However, vibrates easily a late response of applied air pressure. Then, magnetorheological brake that uses fluid early is built into joint and controls vibration. In article, we have grasped dynamic characteristics by construction model for improvement control performance brake. Furthermore, simulation performed using model, efficient...

Highly rigid actuators such as a geared motor or hydraulic actuator are widely used in industrial robots. To obtain high-speed motion, need to increase the output. However, high-rigidity output, it is necessary make larger. In contrast, humans perform motions with instantaneous force jumping throwing by using muscles. These forces realized accumulating potential energy muscles and releasing short time. Therefore, this study 1-DOF manipulator variable rheological joint for an artificial...

The performance of a robot can be enhanced by increasing its output. However, the output rigid actuators such as motors and hydraulic will likely increase weight robot. Conversely, organisms human beings achieve high within short time accumulating releasing elastic energy stored in their muscles; thus, providing an instantaneous force. Moreover, viscoelastic properties muscle enable to control force outputs overall movements. Therefore, this study, we developed manipulator with...

With robots becoming closer to humans in recent years, human-friendly made of soft materials provide a new line research interests. We designed and developed robot that can move via self-deformation toward the practical application monitoring children elderly on daily basis. The robot’s structure was built out flexible frames, which are bending-type pneumatic artificial muscles (BPAMs). first description discussion nature BPAM, followed by static characteristics experiment. Although BPAM...

This study aimed to improve the lifetime of a rubber pneumatic artificial muscles by subjecting samples cyclic loading until failure. The results suggest design innovations that concentrate failures on bladder, which will be easier repair than other failure points, or could replaced with self-healing elastomers currently in development. Samples different end rings and fiber layers were tested. In driving tests, some parts muscle caused large shearing stress carbon-fiber led carbon fibers...

This article focuses on developing a pneumatic artificial muscle as variable elastic device and magnetorheological fluid brake viscosity friction device. We executed throwing motion using 2-degree-of-freedom manipulator case study of the control dynamic motion. To investigate motion, we proposed spring model manipulator, which includes viscoelastic joint. Next, were extended to 2 degrees freedom. In addition, was verified by comparing simulation experimental results. The results reproduced...

Bipedal robots capable of various dynamic motions - such as walking, running, and jumping have been developed in recent years. In particular, these require high power for short durations time when the robot kicks off ground. Furthermore, it is necessary to reduce impact force that a subjected landing during motions. When humans perform similar motions, they generate an instantaneous high-power using elastic element dampen viscous their muscles. Therefore, robotic leg designed relies on...

Highly rigid actuators such as a geared motor or hydraulic actuator are widely used in industrial robots. To obtain high-speed motion, it is necessary to increase the output robot weight increases. In contrast, humans perform motions with instantaneous force-as jump throw-via variable rheological characteristics. We developed one-degree-of-freedom manipulator joint using straight-fiber-type artificial muscle and magnetorheological (MR) brake. Then, we created nonlinear dynamic...

Recently, flexible and light actuators that mimic muscle fibers have been actively researched. Here, we focused on an electroactive polymer (EAP) dielectric elastomer. To construct the actuator, elastomer is rolled into a tube, extended by applying voltage across its electrodes. In this paper, experimentally obtained static characteristic model of electrostrictive rubber proposed control method. We then incorporated actuator 1-DOF manipulator, constructed controller from mechanical...

Bipedal robots capable of various dynamic motions such as walking, running, and jumping have been developed in recent years. In particular, these require the use high power a short time when robot kicks off ground. Furthermore, it is necessary to decrease impact force that subjected landing during motions. Unfortunately, rigid actuators tend become heavier their output increases. Therefore, we focus on method for obtaining using elastic energy. However, element only leads vibration. control...

This study proposes a method for improving the performance of manipulator driven by pneumatic artificial muscles. Although straight-fiber-type muscle (SF-PAM), kind muscle, is lightweight and exhibits high contractile force contraction percentage, its decreases as increases. To compensate decrease in SF-PAM force, we developed noncircular pulley integrated it into wire mechanism. Because this designed accordance with output characteristics SF-PAM, can be converted torque efficiently. In...

Robots, driven by soft actuators, aim at ensuring human safety. Owing to their relatively higher output force than other rubber pneumatic artificial muscles (PAM) are actively researched. In particular, straight-fiber muscle (SFPAM) has high and contraction abilities. However, significant deformation places substantial strain on rubber, shortening the lifespan of muscle. Therefore, improving is important for practical applications. To achieve this, this study proposes use a repairable...

The performance of a robot can be enhanced by increasing its output. However, the output rigid actuators such as motors and hydraulic will likely increase weight robot. Conversely, organisms human beings achieve high within short time accumulating releasing elastic energy stored in their muscles (thus providing an instantaneous force). Moreover, viscoelastic properties muscle enable to control force outputs overall movements. Therefore, this study, we developed manipulator with...