| 抄録 |
Coupled tendon-driven mechanism can make the manipulator lightweight and articulated. However, the complexity of the mechanism is an issue in the tension measurement required for the control. This study aims to develop a smart tendon-driven robot that can measure tension using a driving rope. We developed a 2DOF manipulator using an electrically conductive rope as the driving rope, which shows a change in resistance depending on the tension. We verified through experiments that it is possible to estimate the tension when an external force is applied, and to control the robot to realize an avoidance posture in response to the force. |