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JRM Vol.35 No.5 pp. 1366-1373
doi: 10.20965/jrm.2023.p1366
(2023)

Paper:

Development of Tensegrity Manipulator Driven by 40 Pneumatic Cylinders for Investigating Functionality in Hyper-Redundant Musculoskeletal Systems

Yuhei Yoshimitsu and Shuhei Ikemoto ORCID Icon

Kyushu Institute of Technology
2-4 Hibikino, Wakamatsu-ku, Kitakyushu, Fukuoka 808-0196, Japan

Received:
March 10, 2023
Accepted:
July 20, 2023
Published:
October 20, 2023
Keywords:
tensegrity, redundancy, pneumatic actuator
Abstract

Musculoskeletal systems are characterized by their structural softness and drive redundancy. The objective of this study was to reproduce these features using a tensegrity manipulator. The developed tensegrity manipulator was formed by replacing 40 of the 80 cables of class-1 tensegrity consisting of 20 struts with pneumatic cylinders to allow it to bend actively. This paper presents the design details of the manipulator and an analysis of its characteristics during various motions. We confirmed that this robotic platform could reproduce abstract features of the musculoskeletal system. In addition, we discuss the issues that must be addressed in the control of this robot according to the experimental results.

Tensegrity manipulator driven by 40 pneumatic cylinders

Tensegrity manipulator driven by 40 pneumatic cylinders

Cite this article as:
Y. Yoshimitsu and S. Ikemoto, “Development of Tensegrity Manipulator Driven by 40 Pneumatic Cylinders for Investigating Functionality in Hyper-Redundant Musculoskeletal Systems,” J. Robot. Mechatron., Vol.35 No.5, pp. 1366-1373, 2023.
Data files:
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