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This paper presents a collision force suppression mechanism that is installed in the shoulder and elbow joints of a 5-DOF manipulator. The collision suppression mechanism consists of an air cushion bag, a transmission rack, a clutch gear and two compression springs. If the manipulator collides with an object or a human when the end-effector of the manipulator follows a target trajectory, the manipulator...
This paper describes the mechanism of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, and a foot. It weighs 6.5 [kg], and is 594 [mm] tall. It has a total of 9 actuators: 6 mono-articular types and 3 bi-articular types. A pneumatic artificial muscle actuator that can expand radially and contract axially is used...
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