This paper presents a human-mimetic manipulator capable of shock absorption by using dislocation at the soft joint. A one degree-of-freedom (DOF) soft robot joint was developed based on the human elbow-joint structure, especially mimicking the humeroulnar joint in the elbow. Each component of the soft joint is combined by an elastic ligament, which is made up of elastic rubber and is attached to the pivot joint pin positioned at a predetermined place according to a specially designed pin guide. As an external impact is applied to the joint, the elastic ligament is elongated as the pivot joint pin is moved from the predetermined place. This state is defined as a dislocation, which is similar to the dislocation of a human joint when impacted. Dislocation in the proposed soft robot joint occurred when the external impact was larger than the predetermined threshold force. This threshold force can be predicted by the modulus of the elastic ligament and the shape of the pin guide, and the theoretical model was developed in this study. To evaluate the function of dislocation, dynamic and quasi-static impact tests were performed at the 1-DOF soft robot joint. Moreover, the human-mimetic manipulator is proposed based on the 2-DOF soft robot joint. This manipulator can realize four motions of a human arm using the pneumatic artificial muscles: flexion, extension, pronation and supination. Each artificial muscle and bone structure were similar to the human arm structure, and thus the configuration of each bone structure of the manipulator for each motion is similar to the configurations of a human skeletal structure. This manipulator was also capable of dislocation to absorb the external impact. The developed human-mimetic manipulator with a soft joint is expected to be applied to a naturally safe humanoid robot that works with humans in the same space.

中文翻译：

---

仿人软机器人关节，通过关节脱位来吸收冲击。

本文提出了一种仿人机械手，它能够通过在软关节处使用位错来吸收冲击。基于人体肘关节结构开发了一种自由度（DOF）的软机器人关节，特别是模仿了肘部的肱骨头关节。软接头的每个组件都由一个弹性韧带组合而成，该韧带由弹性橡胶制成，并根据专门设计的销钉导向器固定在位于预定位置的枢轴接头销钉上。当外部冲击施加到关节上时，随着枢转关节销从预定位置移动，弹性韧带就会伸长。该状态被定义为脱位，类似于受到冲击时人体关节的脱位。当外部冲击力大于预定阈值力时，在拟议的软机器人关节中发生了脱位。该阈值力可以通过弹性韧带的模量和导销的形状来预测，并在此研究中开发了理论模型。为了评估脱位功能，在1自由度软机器人关节处进行了动态和准静态冲击测试。此外，提出了一种基于2-DOF软机器人关节的仿人操纵器。该机械手可以使用气动人造肌肉实现手臂的四个动作：屈曲，伸展，内旋和旋后。每个人造肌肉和骨骼的结构都类似于人体的手臂结构，因此，对于每个动作，操纵器的每个骨骼结构的配置都类似于人体骨骼结构的配置。该机械手也能够脱位以吸收外部冲击。开发的具有软关节的仿人机械手有望应用于自然安全的类人机器人，该机器人可在同一空间内与人一起工作。