Lower thigh design of detailed musculoskeletal humanoid &amp;#x201C;Kenshiro&amp;#x201D;

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

doi:10.1109/iros.2012.6386225

Cited by 27 publications

(18 citation statements)

References 8 publications

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“…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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“…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%

Musculoskeletal lower-limb robot driven by multifilament muscles

et al. 2016

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“…Among all robots designed to explore morphological computation and compliant body only few allow to explore physical interaction such as Kenshiro [2] or Acroban which the compliant structure of its vertebral column and legs was shown to permit a self-organized physical human-robot interface allowing non-expert users to lead the robot by the hand [19] [28].…”

Section: Related Workmentioning

confidence: 99%

The poppy humanoid robot: Leg design for biped locomotion

Lapeyre

Rouanet

Oudeyer

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-We introduce a novel humanoid robotic platform designed to jointly address three central goals of humanoid robotics: 1) study the role of morphology in biped locomotion; 2) study full-body compliant physical human-robot interaction; 3) be robust while easy and fast to duplicate to facilitate experimentation. The taken approach relies on functional modeling of certain aspects of human morphology, optimizing materials and geometry, as well as on the use of 3D printing techniques. In this article, we focus on the presentation of the design of specific morphological parts related to biped locomotion: the hip, the thigh, the limb mesh and the knee. We present initial experiments showing properties of the robot when walking with the physical guidance of a human.

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“…For this goal we have developed a life-size human mimetic musculoskeletal humanoid Kenshiro. Kenshiro is made by tendon driven system, based on the size of an average 13-14 years old Japanese male [5][6] [7]. Kenshiro is designed to fulfill the below features.…”

Section: Introductionmentioning

confidence: 99%

Muscle-tendon complex control by “Tension controlled Muscle” and “Non-linear Spring Ligament” for real world musculoskeletal body simulator Kenshiro

Kozuki

Shirai

Asano

et al. 2014

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

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This paper presents a control approach to express muscle-tendon complex in a musculoskeletal humanoid robot.Kenshiro is a full body tendon driven humanoid robot and is designed from the data of average 14 year old Japanese boy. By winding wires by motors we can express the contraction of muscles, and in this paper we introduce novel actuation system realized by integrating "Tension controlled Muscle(TCM)" and "Non-linear Spring Ligament(NSL)". Combination of active and passive compliance control is explained in this paper to realize the behavior of muscle-tendon complex(MTC).This enables flexible behavior of Kenshiro, and mimic joint trajectory of human when external force is applied. At the same time the tension data of the load cells can be regarded as muscle tension.In this way it becomes possible to use musculoskeletal humanoid robots for measuring biological data quantitatively. Application of Kenshiro as actively movable car crash simulation mannequin is illustrated by an example as a future work.

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Lower thigh design of detailed musculoskeletal humanoid “Kenshiro”

Cited by 27 publications

References 8 publications

Musculoskeletal lower-limb robot driven by multifilament muscles

Musculoskeletal lower-limb robot driven by multifilament muscles

The poppy humanoid robot: Leg design for biped locomotion

Muscle-tendon complex control by “Tension controlled Muscle” and “Non-linear Spring Ligament” for real world musculoskeletal body simulator Kenshiro

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Lower thigh design of detailed musculoskeletal humanoid &#x201C;Kenshiro&#x201D;

Cited by 27 publications

References 8 publications

Musculoskeletal lower-limb robot driven by multifilament muscles

Musculoskeletal lower-limb robot driven by multifilament muscles

The poppy humanoid robot: Leg design for biped locomotion

Muscle-tendon complex control by &#x201C;Tension controlled Muscle&#x201D; and &#x201C;Non-linear Spring Ligament&#x201D; for real world musculoskeletal body simulator Kenshiro

Contact Info

Product

Resources

About

Lower thigh design of detailed musculoskeletal humanoid “Kenshiro”

Muscle-tendon complex control by “Tension controlled Muscle” and “Non-linear Spring Ligament” for real world musculoskeletal body simulator Kenshiro