Abstract
In conventional robot arms, each joint is controlled by one motor. The human upper extremities can be classified into three pairs of antagonistic muscles. Kumamoto et al. (1994) recently demonstrated the coordinate model of the three pairs of antagonistic muscles for controlling the output force direction at the arm end. The human force output of three pairs of antagonistic muscles is simulated by three electric rotary motors. This paper presents three pairs of antagonistic muscles by three electric rotary motors and a bi-article motor with a planetary gear. The tip force varies with the location of bi-article motor. Using a transmitter gear, not only the normally driven arm with a bi-article motor in link 1 but also the remotely driven arm with a bi-article motor in the base frame can imitate force of the human arm tip. The experimental results verified that our system is resembles human muscles.
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