Development of Bilateral Wearable 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
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.
Ikuo Mizuuchi, and Masayuki Inaba, “Development of Bilateral Wearable Device Kento for Control Robots Using Muscle-Actuator Modules,” J. Robot. Mechatron., Vol.22, No.3, pp. 308-314, 2010.
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