Abstract
Recently, as robots and humans have increasingly come to share common spaces especially in the fields of the medicine and welfare, it has become necessary to consider the frequent physical contact or collision of robots and humans. Therefore, high safety is demanded from the robot of this type. This study describes the development of a manipulator using a smart flexible joint composed of ER fluid and pneumatic cushion. Further, the position control experiment, the collision experiment and the pressure change experiment in pneumatic cushion were done in the manipulator that developed. Results of them demonstrate the effectiveness of the manipulator.
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