Mobilizing and Antagonistic Stiffness Control for SMA Artificial Muscle Actuator Protected by Rolled Film Tube

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  • 巻フィルムチューブ式SMA人工筋肉アクチュエータのモバイル化と拮抗配置による剛性制御手法の検討
  • マキ フィルムチューブシキ SMA ジンコウ キンニク アクチュエータ ノ モバイルカ ト キッコウ ハイチ ニ ヨル ゴウセイ セイギョ シュホウ ノ ケントウ

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Abstract

The endoskeleton humanoid robot needs an artificial muscle that is comparable with a human muscle from a viewpoint of form, flexibility, output force, output displacement and the responses. For this realizing, we are studying a Shape Memory Alloy (SMA) actuator that protected by a rolled film tube have the high heat resistance and the high flexibility. In this study, this actuator is inserted into a natural rubber tube for mobilizing and experimented about its antagonistic stiffness control.

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