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This paper describes an extended manipulability measure for robot arm based on bi-articular muscle principle. There are several manipulability measures for serial link manipulator. However they can not be applied for manipulators which has animal-like actuator alignment. Bi-articular muscle is an unique actuator of animals. It connects two joints and drives both simultaneously. Conventional measures...
This paper describes a novel design of robot arm and its experimental verification. The proposed robot arm has a bi-articular driving mechanism. The bi-articular driving mechanism drives both shoulder and elbow joints simultaneously like a bi-articular muscles of animals. The mechanism is built by timing belt and pulleys. The proposed robot arm mimics human upper arm with 3 DC motors working as three...
This paper suggests control algorithm for a robot manipulator which has biarticular muscle torque input in addition to the conventional two monoarticular muscle torques. Using a modified Jacobian matrix which is based on the absolute angle of two joints, we derive simple relationship between an endpoint force/position and three muscle torques. Based on this relationship a feedback controller is developed...
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