Development of Variable Viscoelastic Joint Module Performance Evaluation and Proposal of Application Examples

With the diversification of robots, modularization robots has been attracting attention. In our previous study, we developed a robot that mimics principle human joint drive using straight-fiber-type pneumatic rubber artificial muscle (“artificial muscle”) and magnetorheological fluid brake (“MR brake”). The variable viscoelastic joints have modularized. Therefore, this paper evaluates basic characteristics Joint Module, characterizes joint, compares it with existing modules. As characteristics, confirmed Module element by experimentally verifying angle, stiffness, viscosity, tracking performance generated torque to command value. characteristic evaluation, verified change in motion response external disturbances due differences driving methods through simulations experiments proved strength against disturbances, which is joints. Based on results characterization discussed what kind device suitable be applied clarified position as an actuator system.