RESUMEN
This paper presents a human-mimetic manipulator capable of shock absorption by using dislocation at the soft joint. A one degree-of-freedom (DOF) soft robot joint was developed based on the human elbow-joint structure, especially mimicking the humeroulnar joint in the elbow. Each component of the soft joint is combined by an elastic ligament, which is made up of elastic rubber and is attached to the pivot joint pin positioned at a predetermined place according to a specially designed pin guide. As an external impact is applied to the joint, the elastic ligament is elongated as the pivot joint pin is moved from the predetermined place. This state is defined as a dislocation, which is similar to the dislocation of a human joint when impacted. Dislocation in the proposed soft robot joint occurred when the external impact was larger than the predetermined threshold force. This threshold force can be predicted by the modulus of the elastic ligament and the shape of the pin guide, and the theoretical model was developed in this study. To evaluate the function of dislocation, dynamic and quasi-static impact tests were performed at the 1-DOF soft robot joint. Moreover, the human-mimetic manipulator is proposed based on the 2-DOF soft robot joint. This manipulator can realize four motions of a human arm using the pneumatic artificial muscles: flexion, extension, pronation and supination. Each artificial muscle and bone structure were similar to the human arm structure, and thus the configuration of each bone structure of the manipulator for each motion is similar to the configurations of a human skeletal structure. This manipulator was also capable of dislocation to absorb the external impact. The developed human-mimetic manipulator with a soft joint is expected to be applied to a naturally safe humanoid robot that works with humans in the same space.
