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Design of a Compliant 7-DoF Power Soft Robot driven by Hydraulic Artificial Muscles

Yunhao Feng,Tohru Ide,Hiroyuki Nabae,Gen Endo,Ryo Sakurai,Shingo Ohno,Koichi Suzumori

2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS)（2021）

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Abstract
A lightweight hydraulic artificial muscle with a compliant structure can generate a strong contraction force with a high application pressure. The 7-DOF power soft robot arm driven by hydraulic artificial muscles developed in this study can potentially achieve both sufficient strength and softness while exhibiting characteristics close to those of humans. Two symmetrical antagonistic joints, two a...
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Key words
Wrist,Performance evaluation,Force,Shoulder,Hydraulic systems,Muscles,Soft robotics
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