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Control of musculoskeletal robot hand based on coordination of agonist-antagonist muscle pair

 Recently, research into robots that coexist with people in many areas such as the service and medical industries is active. Such robots need to be both safe and flexible. To satisfy this demand, a pneumatic actuator is appropriate because it is lightweight and has natural compliance.

 A pneumatic actuator is an artificial muscle which generates axial tension from air pressure. They are light-weighted and their properties are analogous to skeletal muscle.

 Our research focuses on a control method for a human-sized robot hand using low-pressure driven pneumatic actuators. The actuators we use are compact, light-weighted and low-pressure driven compared to conventional ones so that they can be embedded in the human-sized robot hand. This robot mimics appearance of a human hand and musculoskeletal structure, which has antagonistic muscle pairs for each joint.

 We propose a biologically-inspired control based on the coordination of a agonist-antagonist muscle pair. We quantify the coordination and apply these parameters into the control method.
robot_hand actuator

Research introduction