Antagonistic control of multi-DOF joint

This paper presents a mechanical system that fundamentally mimics a human musculo-skeletal system aiming for using it in anthropomorphic robots or artificial limbs for disabled persons. At first, it introduces a mechanical module called ANLES (Actuator with Non-Linear Elasticity System). It can be used as a voluntary muscle since it is a linear actuator with non-linear elasticity similar to a voluntary muscle. It follows an application of the ANLES into a three DOF artificial joint arranged to use as a wrist joint of an anthropomorphic robot. At first it shows the first model controlled by four ANLESes and one extra-motor, which was under-actuated to control three joint angles and three joint stiffness. Next it shows the second model that is controlled by six ANLESes to control the angle and the stiffness of the concentrated three rotary axes.