Development of BilateralWearable Device Kento for Control Robots Using Muscle-Actuator Modules

摘要

The bilateral wearable device with stiffness-adjustable muscle-actuator modules we developed to control robots by sensing external force from them and teaching them movement for contact with their surroundings. Experiments confirmed that maneuvering a musculoskeletal humanoid fed back the humanoid’s force to a manipulator and its force feedback through bilateral control enabled the manipulator to engage in safe contact with its environment.