Rubbertuators and applications for robots
Proceedings of the 4th international symposium on Robotics Research
Kinematic analysis of 7-DOF manipulators
International Journal of Robotics Research
Robot Evolution: The Development of Anthrobotics
Robot Evolution: The Development of Anthrobotics
Proxy-based Sliding Mode Control of a Planar Pneumatic Manipulator
International Journal of Robotics Research
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
Robot hand with soft compliant mechanism for human body care
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
Development of robot hand aiming at nursing care services to humans
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Dynamic modeling of Mckibben pneumatic artificial muscles for antagonistic actuation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Stiffness control of multi-DOF joint
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Development of multi-directional compliant joint module for human-care robot
International Journal of Robotics and Automation
Comparative studies of parallel and vertical stereo vision-based 3D pneumatic arms
ICCCI'10 Proceedings of the Second international conference on Computational collective intelligence: technologies and applications - Volume Part III
Towards a anthropomorphism theory for human-like machines based on systems science
ICOSSSE'07 Proceedings of the 6th WSEAS international conference on System science and simulation in engineering
Advantages of flexible musculoskeletal robot structure in sensory acquisition
Artificial Life and Robotics
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Braided pneumatic artificial muscles, and in particular the better known type with a double helical braid usually called the McKibben muscle, seem to be at present the best means for motorizing robot-arms with artificial muscles. Their ability to develop high maximum force associated with lightness and a compact cylindrical shape, as well as their analogical behavior with natural skeletal muscle were very well emphasized in the 1980s by the development of the Bridgestone "soft robot" actuated by "rubbertuators". Recent publications have presented ways for modeling McKibben artificial muscle as well as controlling its highly non-linear dynamic behavior. However, fewer studies have concentrated on analyzing the integration of artificial muscles with robot-arm architectures since the first Bridgestone prototypes were designed. In this paper we present the design of a 7R anthropomorphic robot-arm entirely actuated by antagonistic McKibben artificial muscle pairs. The validation of the robot-arm architecture was performed in a teleoperation mode.