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This paper describes an operational characteristic and position control of an antagonistic drive system using the rubberless artificial muscle. We have proposed a mechanical equilibrium model which expresses the relation of contraction force, contraction displacement, and inner pressure. Position control in consideration of antagonistic force can be achieved to apply this mechanical equilibrium model to the antagonistic drive system. However, the rubberless artificial muscle has hysteresis characteristic. Therefore, we examined an operational characteristic of the antagonistic drive system which the mechanical equilibrium model is applied. In the result, it was confirmed that an output displacement becomes small, and the hysteresis characteristic remains. Because of including some modeling error, we added a feedback controller. As a result, we confirmed that an antagonistic position control in consideration of antagonistic force could be achieved experimentally although hysteresis characteristic does not express using a hysteresis model.

Operational characteristic and position control of rubberless artificial muscle antagonistic drive system