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Biological systems are generally able to change joint stiffness by co-activation of antagonistic muscles. A close study of the stiffness generated in an antagonistically actuated, muscle-driven hinge joint has shown that in dependence of some muscle and joint parameters, positions in the angular joint space can be found for which different levels of co-activation do not generate any change in stiffness...
The current research effort in the design of lightweight and safe robots is resulting in increased interest for the development of variable stiffness actuators. Antagonistic pneumatic muscle actuators (pMAs) have been proposed for this purpose, due to their inherent nonlinear spring behavior resulting from both air compressibility and their nonlinear force-length relation. This paper addresses the...
This paper reveals the advantage of the biarticular muscle which has been said to play an important role in human's motion control and applies it to the robot manipulator control. Biarticular muscle changes the energy flow in muscles resulting in efficient motion and help stabilizing the posture of the human body. These advantages are analyzed and reflected to the control of a robot manipulator. In...
In this paper, we describe a leg mechanism that uses an embedded servomotor as an artificial muscle to model the human musculoskeletal system, and subsequently evaluate the biomechanics of the developed model. The leg mechanism model exhibited stiffness and motion control characteristics similar to theoretical properties, and the resultant stiffness characteristics were applied to accomplish both...
This paper presents the characterization of the position and stiffness open loop controller for the NEURARM bio-inspired joint. A novel antagonistic non-linear actuation scheme is proposed for the NEURARM platform, a 2 DoF planar robotic arm that has been developed to imitate the principal functional features of the human arm for planar movements. The NEURARM joint has the actuation scheme based on...
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