DEVELOPMENT OF MULTI-DIRECTIONAL COMPLIANT JOINT MODULE FOR HUMAN-CARE ROBOT

摘要

In this paper, we describe the development of a finger joint module for a human-care robot. The proposed joint module has multidirectional passive compliance to external forces caused by human contact and also the ability to estimate them. To achieve the above two characteristics, silicone gum cushions (SGCs) are placed between the motor and the output link. These SGCs have a hollow shape and deform easily. The elastic deformation of the SGC enables the robot to react softly to the external forces exerted from multiple directions. Furthermore, these forces can be inferred by measuring the pressure in the SGC's hollow. The basic characteristics of the module's passive compliance and its accuracy in sensing external forces are examined through several experiments.