Design of a Compliant 7-DoF Power Soft Robot driven by Hydraulic Artificial Muscles

A lightweight hydraulic artificial muscle with a compliant structure can generate a strong contraction force with a high application pressure. The 7-DOF power soft robot arm driven by hydraulic artificial muscles developed in this study can potentially achieve both sufficient strength and softness while exhibiting characteristics close to those of humans. Two symmetrical antagonistic joints, two asymmetrical antagonistic joints, two rotational wire-pulley drive antagonistic joints, and a single-muscle drive joint are used for the shoulder, elbow, and wrist parts. A total of 29 hydraulic muscles were used in the structure.