TWENDY-ONE is a sophisticated human-symbiotic-robotwhich combines the function of dexterity with passivity and a high-power output. TWENDY-ONE equips high output actuators with the simple mechanical passive impedance mechanism. When TWENDY-ONE manipulates an object with various shape, it is easy for TWENDY-ONE to adapt to the object by passivity and to absorb external force generated by the positioning deviation. In the same way, TWENDY-ONE can adapt to human motion and hold a human. TWENDY-ONE can manipulate an object dexterously as well as support a human.

Twendy One

TWENDY-ONE is a sophisticated human-symbiotic-robotwhich combines the function of dexterity with passivity and a high-power output. TWENDY-ONE equips high output actuators with the simple mechanical passive impedance mechanism. When TWENDY-ONE manipulates an object with various shape, it is easy for TWENDY-ONE to adapt to the object by passivity and to absorb external force generated by the positioning deviation. In the same way, TWENDY-ONE can adapt to human motion and hold a human. TWENDY-ONE can manipulate an object dexterously as well as support a human.The size and the movable range of the TWENDY-ONE arm and hand are designed equally to those of the average adult female. The arm has seven degrees of freedom with one redundancy and the four-finger-hand has thirteen degrees of freedom in total to manipulate an object dexterously.&nbsp;As the mobility is an important rule of the service application, an omni-directional mobile mechanism is introduced to TWENDY-ONE. This mechanism enables the robot to easily follow and adapt to external and involuntary force applied from human. The trunk of WENDY-ONE has four degrees of freedom so that the hand can reach the floor to pick up an object and to wipe off the floor. The appearance is designed from the point of view of the human-friendliness. The outer shell is designed to cover all the wire harnesses and it also has the function of shock absorption.

Functional requirements for human symbiotic robots are detailed from the viewpoint of dairy-life care for the elderly or disabled. Describess points of design and specifications of each component comprised ofa head, trunk, vehicle,  hands  and arms. Evaluation experiments assuming providing physical

Degrees of freedom	47+ Omnidirectional mobility
	Arm	14 dof (7x2)
	Hand	26 dof (13x2)
	Neck	3 dof
	Trunk	4 dof
	Mobile mechanism	Omnidirectional vehicle with 4 wheels