Biomimetic design of musculoskeletal humanoid knee joint with patella and screw-home mechanism

Asano, Yuki; Mizoguchi, Hironori; Osada, Masahiko; Kozuki, Toyotaka; Urata, Junichi; Izawa, Tamon; Nakanishi, Yoshinobu; Okada, Kei; Inaba, Masayuki

doi:10.1109/robio.2011.6181553

Cited by 14 publications

(13 citation statements)

References 6 publications

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“…All authors read and approved the final manuscript. 1 Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Meguro-ku, Ookayama 2-12-1, Tokyo 152-8550, Japan.…”

Section: Authors' Contributionsmentioning

confidence: 99%

“…Kenshiro [1,2] is driven by motors and tendons. The body of Kenshiro is similar to that of a human because its muscles, bones and joint structures are based on human anatomy.…”

Section: Introductionmentioning

confidence: 99%

“…We believe that our unique thin muscle is currently the only actuator capable of realizing this purpose: it is thin, deformable and light enough to be used inside a body with limited space; it generates a comparable contracting force and ratio as human muscles; and it can be easily bundled to form various shaped multifilament muscles, e.g., a muscle that has two ends on one side, such as a biceps muscle, or a flat muscle such as the pectoralis major and deltoid muscles. Kenshiro [1,2] has a flat shaped (or planar) muscle [11]; however, this planar muscle requires several pulleys and associated supports. Comparatively, the shape and acting points of a multifilament muscle can be flexibly changed and adjusted during implementation in a robot body.…”

Section: Introductionmentioning

confidence: 99%

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Musculoskeletal lower-limb robot driven by multifilament muscles

et al. 2016

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This paper presents a redundant musculoskeletal robot using thin McKibben muscles that is based on human anatomy. The purpose of this robot is to achieve motions and characteristics that are very similar to a human body. We use a thin McKibben muscle, which is compliant and flexible, as the actuator of a musculoskeletal robot. Using a bundle of thin McKibben muscles, we develop a multifilament muscle that has characteristics similar to those of human muscles. In contrast, the actuators of conventional musculoskeletal robots are very heavy, not densely attached and have poor backdrivability. Because multifilament muscles are light and can be densely attached, we can attach them to the musculoskeletal robot as skeletal muscle and achieve a redundant system that is equivalent to a human drive mechanism. In this paper, we report a method for fabricating multifilament muscles that imitate various muscles, the development of a lower-limb muscle mechanism for the redundant musculoskeletal robot with thin McKibben muscles and experimental results showing that the proposed musculoskeletal robot achieves humanlike motions that have not yet been reported for other robots.

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“…All authors read and approved the final manuscript. 1 Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Meguro-ku, Ookayama 2-12-1, Tokyo 152-8550, Japan.…”

Section: Authors' Contributionsmentioning

confidence: 99%

“…Kenshiro [1,2] is driven by motors and tendons. The body of Kenshiro is similar to that of a human because its muscles, bones and joint structures are based on human anatomy.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Musculoskeletal lower-limb robot driven by multifilament muscles

et al. 2016

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“…Mimicking such design could therefore lead to humanoid robots with a performance that is advantageous in many applications, particularly in scenarios where the robot must interact with man-made environments that have been designed to be convenient for humans. A variety of humanoid robots inspired by the human anatomy have been proposed, including complete humanoid body designs [1], [2], or humanoid parts of the body such as the upper torso [3], [4]. The majority of these rely on traditional mechanisms and actuators, such as motors and tendons.…”

Section: Introductionmentioning

confidence: 99%

Multifilament pneumatic artificial muscles to mimic the human neck

Garriga-Casanovas

Faudzi

Hiramitsu

et al. 2017

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Pneumatic Artificial Muscles (PAMs) are actuators that resemble human muscles, and offer an attractive performance in various aspects including robustness, simplicity, high specific power and high force for a given volume. These characteristics render them good candidates for use in humanoid robots. The use of traditional PAMs to closely mimic human structures, however, is difficult due to their relatively large size and relatively fixed designs. The recent development of multifilament PAMs enables the realization of humanoid robots that more closely mimic the human anatomy. In this paper, the application of multifilament PAMs to mimic the human neck is presented. First, the main structures of the human neck anatomy in terms of bones, ligaments and muscles are identified and detailed. The design to mimic each of these structures is subsequently described, together with the most relevant parts of the manufacturing process. The integrated neck is then presented, and the method to actuate it is outlined. The results of motion of the artificial neck when actuating different groups of muscles that mimic those in the human anatomy are reported, confirming a motion that is equivalent to that of the human neck. The results also indicate a range of motion of the robot neck somewhat lower than that of its human counterpart, and the reasons for this are discussed. Finally, future directions for improved motion range, stability, durability and efficiency are outlined.

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“…It is difficult to adequately fit the natural motion of human knee joint only using a mechanical joint with a single-axis. Some studies that utilize a bioinspired knee mechanism can be found in the field of humanoids [12,13] and prosthetic knees [14]. Terada et al [15] developed a knee-motion-assist mechanism for a wearable robot with a noncircular gear and grooved cams.…”

Section: Introductionmentioning

confidence: 99%

Bioinspired Knee Joint for a Power-Assist Suit

Kikuchi

Sakai

Abe

2016

Journal of Robotics

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Movement of the knee joint of a human includes rolling and sliding. There also exist rotations in the frontal and horizontal planes. To assist the standing movement of a human, we developed a bioinspired knee joint and torque adjustment mechanism. We evaluated the motion, torque characteristics, and stress of the developed mechanism. This joint allows deep flexion of the knee with small resistance for both the user and the device. In addition, in spite of 33% error in deep flexion, the measured torque over less than 120 degrees fits the designed torque curve. We conducted evaluation tests for a human subject. The electromyogram (EMG) of musculus rectus femoris was measured during standing with or without the assistance. The result shows 30% and 63% reduction with the assistance from 100-degree and 80-degree knee angles, respectively. In addition, the proposed device reduced up to 80% of stress in the frontal plane during standing.

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Biomimetic design of musculoskeletal humanoid knee joint with patella and screw-home mechanism

Cited by 14 publications

References 6 publications

Musculoskeletal lower-limb robot driven by multifilament muscles

Musculoskeletal lower-limb robot driven by multifilament muscles

Multifilament pneumatic artificial muscles to mimic the human neck

Bioinspired Knee Joint for a Power-Assist Suit

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