Abstract
Humans have bi-articular muscles acting on two joints, and bi-articular muscles play a very important role in human action. For those reasons, the robot arms having a drive system based on the function of bi-articular muscles have been developed. In these robot, DOF for the control is lower than the DOF for the mechanism. Therefore, since that system depends on some kind of external force, it is necessary to know the characteristics for design the control. This study reports the mechanical characteristics of bi-articular muscle hydraulic actuator and robot arm using it. The hydraulic actuator consists of parallel connected master and slave cylinder. The slave cylinder is a differential mechanism with 3 ports. We examined the function as a bi-articular muscles actuator and confirmed the motion of the robot arm which depends on external force in the experiment.
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