Development and evaluation of seven-D.O.F. MIA ARM

Toshio Morita*, Shigeki Sugano

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

61 Citations (Scopus)


This study aims to realize passive impedance control of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic manipulator using this mechanism. The mechanism has the advantage of conventional method of the force control in realizing high compliance. The manipulator which employs this joint mechanism is appropriate for the human-robot cooperative tasks, because each joint can realize safety motion. This paper presents a development of the anthropomorphic manipulator (seven-D.O.F. MIA ARM) which consists of shoulder, elbow, and wrist. This paper also describes a dynamic model of multiple-D.O.F. MIA and an experimental evaluation of the seven-D.O.F. MIA ARM by means of trajectory control. The experimental results show that the seven-D.O.F. MIA ARM can realize high performance in motion control with consideration to the effect of dynamics, selfweight and damping.

Original languageEnglish
Pages (from-to)462-467
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1997
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: 1997 Apr 201997 Apr 25

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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