Abstract
This paper presents a method for regulating stiffness of artificial joint that is controlled on antagonistic manner like a human articulation. It requires a nonlinear elastic body on channels of transmitting force or torque. Authors propose a new actuator that has nonlinear elastic system, which is called ANLES. It fundamentally mimics the skeletal muscular system. This paper describes the equations for designing the elastic characteristics of ANLES and shows the assembled ANLES. Next it shows the theoretical and experimental result of its nonlinear elasticity. One joint controlled by two ANLESes is constructed experimental result of measuring stiffness of the joint is finally shown
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