Human mimetic forearm design with radioulnar joint using miniature bone-muscle modules and its applications

Kawaharazuka, Kento; Makino, Shogo; Kawamura, Masaya; Asano, Yuki; Kakiuchi, Yohei; Okada, Kei; Inaba, Masayuki

doi:10.1109/iros.2017.8206377

Cited by 18 publications

(10 citation statements)

References 14 publications

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“…The muscle is actuated by winding a muscle wire with a pulley. The other is a miniature bonemuscle module [18]. Although the basic concept is the same as in [17], the module is used not only as a muscle but also as a bone frame and dissipates heat to metal by packaging two smaller actuators into one module and filling the space between the two actuators with metal.…”

Section: Hardware Detailsmentioning

confidence: 99%

Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software

Kawaharazuka

Tsuzuki

Koga

et al. 2020

IEEE Robot. Automat. Mag.

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This paper summarizes an autonomous driving project by musculoskeletal humanoids. The musculoskeletal humanoid, which mimics the human body in detail, has redundant sensors and a flexible body structure. These characteristics are suitable for motions with complex environmental contact, and the robot is expected to sit down on the car seat, step on the acceleration and brake pedals, and operate the steering wheel by both arms. We reconsider the developed hardware and software of the musculoskeletal humanoid Musashi in the context of autonomous driving. The respective components of autonomous driving are conducted using the benefits of the hardware and software. Finally, Musashi succeeded in the pedal and steering wheel operations with recognition.

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Section: Hardware Detailsmentioning

confidence: 99%

Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software

Kawaharazuka

Tsuzuki

Koga

et al. 2020

IEEE Robot. Automat. Mag.

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“…LiFe batteries were embedded into the skeletal structures of legs, and they enabled movement for about 20 min without any power cables. Muscle control using force was achieved using two types of sensordriver-integrated muscle modules (42,44). This is an all-in-one integrated module composed of electrical motor, motor driver, and sensors for force control.…”

Section: Development Of Kengoromentioning

confidence: 99%

“…In addition, the hand can hold the weight of its body, because a large grasping force can be generated by the muscles in its forearm (41). The forearm is composed of a radioulnar joint with a tilted joint axis and expands the variety of possible hand motions, such as that in sports or dexterous tasks (42). From a physiological point of view, a skeletal structure with artificial perspiration was developed to release the heat of the motors (43).…”

Section: Development Of Kengoromentioning

confidence: 99%

Design principles of a human mimetic humanoid: Humanoid platform to study human intelligence and internal body system

2017

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Many systems and mechanisms in the human body are not fully understood, such as the principles of muscle control, the sensory nervous system that connects the brain and the body, learning in the brain, and the human walking motion. To address this knowledge deficit, we propose a human mimetic humanoid with an unprecedented degree of anatomical fidelity to the human musculoskeletal structure. The fundamental concept underlying our design is to consider the human mechanism, which contrasts with the conventional engineering approach used in the design of existing humanoids. We believe that the proposed human mimetic humanoid can be used to provide new opportunities in science, for instance, to quantitatively analyze the internal data of a human body in movement. We describe the principles and development of human mimetic humanoids, Kenshiro and Kengoro, and compare their anatomical fidelity with humans in terms of body proportions, skeletal structures, muscle arrangement, and joint performance. To demonstrate the potential of human mimetic humanoids, Kenshiro and Kengoro performed several typical human motions.

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“…Jantsch et al (2013) developed the simplified human upper limb with muscle tension sensors robot "Anthrob," which comprised 13 compliant muscles and four degrees of freedom (DOF) joint. Kawaharazuka et al (2017aKawaharazuka et al ( , 2017b designed a human mimetic forearm with a radioulnar joint and completed routine tasks such as soldering, opening a book, turning a screw and swinging a badminton racket with low-precision requirements. Subsequently, they developed "MusashiLarm," a complete musculoskeletal upper-limb platform comprising only joint modules, muscle modules, generic bone frames, muscle wire units and a few attachments (Kawaharazuka et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

“…However, this algorithm needs to be trained thousands of times and cannot be applied to musculoskeletal robot platforms. Computational muscle control (Jantsch et al, 2012) and antagonist inhibition control (Kawaharazuka et al, 2017a(Kawaharazuka et al, , 2017b are the most commonly used low-level control methods. Jantsch et al (2015) developed an adaptive neural network dynamic surface control to improve the trajectory tracking performance of "Anthrob."…”

Section: Introductionmentioning

confidence: 99%

Design and input saturation control with full-state constraints of lightweight tendon-driven musculoskeletal arm

Yuan

Fan

2023

RIA

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Purpose This study aims to propose a novel lightweight tendon-driven musculoskeletal arm (LTDM-arm) robot with a flexible series–parallel mixed skeletal joint structure and modularized artificial muscle system (MAMS). The proposed LTDM-arm exhibits human-like flexibility, safety and operational accuracy. In addition, to improve the safety and stability of the LTDM-arm, a control method is proposed to solve local artificial muscle overload accidents. Design/methodology/approach The proposed LTDM-arm comprises seven degrees of freedom skeletons, 15 MAMSs and various sensor systems (joint sensing, muscle tension sensing, visual sensing, etc.). It retains the morphology of a human skeleton (humerus, ulna and radius) and a simplified muscle configuration. This study proposes an input saturation control with full-state constraints to reduce local artificial muscle overload accidents caused by redundant muscle tension calculations. Findings 3D circular trajectory experiments were conducted to verify the stability of the control method and the flexibility of the LTDM-arm. The results showed that the average error of the muscle length was approximately 0.35 mm (0.38%), which indicates that the proposed control scheme can make the output follow the target trajectory while ensuring constraint satisfaction. Originality/value The human arm is capable of performing compliant operations rapidly, flexibly and robustly in unstructured environments. Existing musculoskeletal arm robots lack simulations of the full morphology of the human arm and are insufficient in dexterity. However, the flexibility and safety features of the proposed LTDM-arm were consistent with that of the human arm. Therefore, this study offers a new approach for investigating the advantages of the musculoskeletal system and the concepts of muscle control.

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Human mimetic forearm design with radioulnar joint using miniature bone-muscle modules and its applications

Cited by 18 publications

References 14 publications

Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software

Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software

Design principles of a human mimetic humanoid: Humanoid platform to study human intelligence and internal body system

Design and input saturation control with full-state constraints of lightweight tendon-driven musculoskeletal arm

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