Spinal Tendon Drive Modules for Human Robot Interaction

The spinal structure provides flexibility, robustness, and scalability to the body of an organism, and is useful for robot body design. In this study, we propose a humaninteractive robotic arm consisting of spinal tendon drive modules equipped with a grip handle for vital sign measurement. The spinal tendon drive module consists of a plastic disc, pull spring, and wire, and it has advantages such as durability against load, wide range of motion, and minimal wiring with CAN bass lines that integrate a group of sensors. In this paper, six of these modules are connected and used as a robotic arm.