Patent attributes
A robot arm formed from one or more optionally interlinked active pivoted levers, wherein a base is fixed to the one end of a support and a pivoting piece is pivotably mounted on the second end of the support with pneumatic muscles running form the base to the pivoting piece. Individual pneumatic muscles engage on opposing sides of the pivot axis of the pivoting piece and the base of a pivoting lever is fixed to the pivoting piece of the adjacent pivoting lever interconnected thereto. The controller measures the position of the individual pivoting levers and the pressure in the individual pneumatic muscles, calculates the externally acting forces from the pressure-distance diagrams for the individual pneumatic muscles and the geometric lever mechanical ratios for all pivoting levers and limits said forces.
