Safety-enhanced control strategy of a power soft robot driven by hydraulic artificial muscles

Safety-enhanced control strategy of a power soft robot driven by hydraulic artificial muscles

Abstract Power soft robots—defined as novel robots driven by powerful soft actuators, achieving both powerfulness and softness—are potentially suitable for complex collaborative tasks, and an approach to actuating a power soft robot is the McKibben artificial muscle. This study aims to show the pote...

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Bibliographic Details
Main Authors: Yunhao Feng, Tohru Ide, Hiroyuki Nabae, Gen Endo, Ryo Sakurai, Shingo Ohno, Koichi Suzumori
Format: Article
Language:English
Published: SpringerOpen 2021-03-01
Series:ROBOMECH Journal
Subjects:
Power soft robot
Hydraulic muscle actuator
Impedance control
Online Access:https://doi.org/10.1186/s40648-021-00194-5

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