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This paper presents an improved mode shape function-based 3D dynamic model for pneumatic muscle actuated continuum arms, and validates the model and simulation results through experimental testing. The model also facilitates the direct control of pneumatic muscle actuated continuum arms through the use of input pressure. This is achieved without additional intermediary transformations and does not...
Musculoskeletal models are effective tools for understanding living systems. To ensure proper model function, they must be checked against the literature or specimens. Existing checking methods require cadaver experimentation, highly knowledgeable medical personnel, and/or significant time. In this paper, we propose a quick and efficient method, called functional consistency checking, for use when...
The octopus is a marine animal whose body has no rigid structures. It has eight arms mainly composed of muscles organized in a peculiar structure, named muscular hydrostat, that can change stiffness and that is used as a sort of a modifiable skeleton. Furthermore, the morphology of the arms and the mechanical characteristics of their tissues are such that the interaction with the environment, namely...
This paper examines the design and control of a robotic arm inspired by the anatomy and neurophysiology of Octopus vulgaris in light of embodiment theory. Embodiment in an animal is defined as the dynamic coupling between sensorymotor control, anatomy, materials, and the environment that allows for the animal to achieve effective behaviour. Octopuses in particular are highly embodied and dexterous...
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