For robots to become more versatile and expand their areas of application, their bodies need to be suitable for contact with the environment. When the human body comes into contact with the environment, it is possible for it to continue to move even if the positional relationship between muscles or the shape of the muscles changes. We have already focused on the effect of geometric deformation of muscles and proposed a drive system called wire-wound Muscle-Tendon Complex (ww-MTC), an extension of the wire drive system. Our previous study using a robot with a two-dimensional configuration demonstrated several advantages: reduced wire loosening, interference, and wear; improved robustness during environmental contact; and a muscular appearance. However, this design had some problems, such as excessive muscle expansion that hindered inter-muscle movement, and confinement to planar motion. In this study, we develop the ww-MTC into a three-dimensional shape. We present a fundamental construction method for a muscle exterior that expands gently and can be contacted over its entire surface. We also apply the three-dimensional ww-MTC to a 2-axis 3-muscle robot, and confirm that the robot can continue to move while adapting to its environment.

翻译：为使机器人具备更强通用性并拓展其应用领域，其本体需适应与环境接触的工况。当人体与环境接触时，即使肌肉间位置关系或肌肉形态发生变化，仍能维持运动功能。我们已关注肌肉几何形变的影响，并在线驱动系统基础上提出线绕式肌肉-肌腱复合驱动系统。前期采用二维构型机器人的研究已证实其多项优势：减少线缆松弛、干涉与磨损；提升环境接触过程中的鲁棒性；实现类肌肉外观。然而该设计存在若干问题，如肌肉过度膨胀阻碍肌肉间运动，且局限于平面运动。本研究将线绕式肌肉-肌腱复合驱动发展为三维形态，提出一种可实现平缓膨胀且支持全表面接触的肌肉外壳基础构建方法。通过将三维线绕式肌肉-肌腱复合驱动应用于2轴3肌肉机器人，验证了该机器人在适应环境的同时能够持续运动的能力。