Research on 2DOF Antagonistic Bionic Flexible Manipulator * A flexible actuator with variable stiffness was improved in this study, and a 2DOF flexible manipulator was designed based on the principle of antagonistic motion. To solve the problem of joint redundancy drive, we focused on the position control, stiffness control and positionstiffness decoupling control strategy of antagonistic bionic manipulator. Based on the Lagrange equation, the joint dynamics model was established, and the control model of the joint position and stiffness of the antagonistic bionic joint was proposed. The traditional PID control theory was used to simulate and verify the effectiveness of the above control strategy. Experiments were carried out on the manipulator to verify the rationality of the structure and control model of the manipulator. The experimental results show that the manipulator can achieve more accurate displacement operation under various stiffness conditions according to the control strategy proposed in this paper, and flexible joints can effectively adjust the stiffness and position of the joints when subjected to external loads. The impact can be weakened when collision occurs.

Assistive method that controls joint stiffness and antagonized angle based on human joint stiffness characteristics and its application to an exoskeleton In this paper, we propose an assistance method that controls joint stiffness and the antagonized angle using variable elastic elements. The proposed system changes the stiffness and angle so that they correspond to the phase of movement and performs movement assistance in cooperation with the wearer. To achieve structural variability in the configuration of stiffness and the antagonized angle, we propose a joint structure in which the artificial muscle and tension spring are antagonistically arranged. While performing a movement, motion analysis was conducted to investigate the change in joint stiffness and antagonized angle. We confirmed that the proposed joint and human joint have the same tendency while in motion.