Realization of human neck motion with novel robotic mechanism

摘要

This paper presents a novel robotic neck utilizing 4 degrees-of-freedom (DOF) hybrid mechanism for human-robot interaction (HRI). For this robot, human-like motion is an important factor. To realize human neck motion, the conceptual design is inspired by the anatomical data such as cervical spine. Following this, the forward kinematics and velocity Jacobian are formulated. Finally, we describe the mechatronics design and realize the neck motion.