Human-like musculoskeletal robot for physical Human-Robot Interaction
Our goal is to realize a robot works in natural environment and interacts with people. HUMA (Human-like Upper body Musculoskeletal robot driven by Air actuators) has been developed as a research platform to study physical human-robot interaction (pHRI). HUMA is named after PUMA robot arm. PUMA is a famous industrial robot arm and it is used in various robotics research fields. We designed HUMA as a “interactive” robot arm. The robot has a lot of redundant air actuators and sensors and can cope with external forces and learn the dynamics of such a complicated situation.