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Robots have become an integral part of human life, and the relationship between humans and robots has grown closer. Thus, it is desired that robots have characteristics similar to humans. In this context, we paid attention to an artificial muscle actuator. We used straight-fiber-type artificial muscles, derived from the McKibben type, which have excellent characteristics with respect to the contraction...
The control of joint stiffness of a robot is extremely important to guarantee safe and dexterous motion, especially for the collaborative operation between a human and a robot. Some devices to vary joint stiffness have been proposed for a tendon-manipulator so far. However, the previous devices have problems such as a complex structure, increase of friction, increase of inertia and so on. In order...
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