A design of motion-support robots for human arms using hexahedron rubber actuators

In the case of mechanical contact between humans and robots including motion-support robots or robotic orthosis, safety is most important. Therefore, in the motion-support robot presented in this paper, hexahedron rubber actuators (HRA) which have light weight, small size and flexibility of motions are used. In this paper, the basic performance of an antagonized HRA unit which is actuated by air pressure is revealed at first. Moreover, effectiveness of a motion-support robot with 4 DOF is demonstrated through experimental results.