Development of bilateral wearable device “kento” for control robots using muscle actuator modules

Abstract

A method of giving intelligence to control robots by human navigations is one of appropriate solution to respond to a lot of unforeseeable situations, and making movement of complicated robots in contact condition with surroundings is not easy. In this research, a bilateral wearable device using stiffness adjustable muscle actuator modules is developed in order to control robots, feel external force of robots and teach motion that contact on surroundings. For an experiment it was realized maneuvering a musculo-skeletal humanoid, it could feedback humanoid's external force to manipulator and its force feedback by bilateral control leads manipulator to do safety contact motion.