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JRM Vol.22 No.3 pp. 308-314
doi: 10.20965/jrm.2010.p0308
(2010)

Paper:

Development of BilateralWearable Device Kento for Control Robots Using Muscle-Actuator Modules

Kazuo Hongo*, Yuto Nakanishi*, Mariko Yoshida*,
Ikuo Mizuuchi**, and Masayuki Inaba***

*Dept. of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

**Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei-shi, Tokyo 184-8588, Japan

***Dept. of Creative Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

Received:
September 30, 2009
Accepted:
February 15, 2010
Published:
June 20, 2010
Keywords:
master-slave control, wearable device, softness contactual bilateral control, tendon driven, stiffness adjustable mechanism
Abstract

The bilateral wearable device with stiffness-adjustable muscle-actuator modules we developed to control robots by sensing external force from them and teaching them movement for contact with their surroundings. Experiments confirmed that maneuvering a musculoskeletal humanoid fed back the humanoid’s force to a manipulator and its force feedback through bilateral control enabled the manipulator to engage in safe contact with its environment.

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Last updated on Sep. 21, 2017