Development of Cybernetic Shoulder. A Three DOF Mechanism that Imitates Human Shoulder-Motions.

DOI Web Site 7 Citations 21 References Open Access
  • Okada Masafumi
    Department of Mechano-Informatics, University of Tokyo
  • Nakamura Yoshihiko
    Department of Mechano-Informatics, University of Tokyo CREST Program, The Japan Science and Technology Corporation

Bibliographic Information

Other Title
  • サイバネティック・ショルダの開発　　人間の肩の動きを模倣した３自由度機構
  • サイバネティック ショルダ ノ カイハツ ニンゲン ノ カタ ノ ウゴキ オ モホウ シタ 3ジユウド キコウ
  • —A Three DOF Mechanism that Imitates Human Shoulder-Motions—
  • ―人間の肩の動きを模倣した3自由度機構―

Search this article

Description

In this paper, we develop a three DOF mechanism for humanoid robots, which we call the cybernetic shoulder. This mechanism imitates the motion of the human shoulder and does not have a fixed center of rotation, which enables unique human-like motion in contrast to the conventional design of anthropomorphic seven DOF manipulators that have base three joint axes intersecting at a fixed point. Taking advantage of the cybernetic shoulder's closed kinematic chain, we can easily introduce the programmable passive compliance adopting the actuation redundancy and elastic members. This is important for the integrated safety of humanoid robots that are inherently required to physically interact with the human.

Journal

Citations (7)*help

See more

References(21)*help

See more

Keywords

Details 詳細情報について

Report a problem

Back to top