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Muscle cell actuators are composed of skeletal muscle cells and collagen intercellular matrix. Muscle cells adhere to collagen fibers and contraction along with the direction of collagen fiber. Collagen fibers in a muscle cell actuator transmit contraction force of each muscle cells along longitudinal direction. In order to improve contraction force of muscle cell actuators, it is very important to...
The aim of this research is to develop a musculoskeletal robot arm, which has a similar mechanical structure to that of a human, to simply make the robot move similarly to a human based on his/her electromyographic signals. In recent years, many musculoskeletal robots have been developed to show advantages of their bio-inspired designs. In this research, we propose a new perspective of their advantages...
This paper presents a direct teaching method for musculoskeletal robots driven by pneumatic artificial muscles (PAMs). In order to reproduce motions which are directly taught by a human, it is necessary to reproduce the lengths of PAMs because they geometrically determine the posture assumed by the robot. However, it is difficult to measure the lengths of PAMs because mounting length sensors is space-consuming...
This paper aims to clarify the mechanism of an infant's locomotive development from the viewpoint of cognitive developmental robotics. We built up an infant-sized musculoskeletal robot driven by McKibben pneumatic actuators, which enable the robot to interact with its environment without any problems of mechanical damage and excessive heat in long-term experiments. We applied a learning algorithm...
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