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

Kozuki, Toyotaka; Shirai, Tomoyuki; Asano, Yuki; Motegi, Yotaro; Kakiuchi, Yohei; Okada, Kei; Inaba, Masayuki

doi:10.1109/biorob.2014.6913891

Cited by 9 publications

(7 citation statements)

References 14 publications

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“…Biological muscles are modeled with either tendon-driven, pneumatic or hydraulic technical implementations or purely in control algorithms. Popular adult robots with advanced motion capabilities can found in the compliantly controlled robot Justin (compliant control) [20], Kenshiro / Kengoro (tendondriven) [14], and a full scale musculoskeletal humanoid from the Suzumori Endo Lab at Tokyo Institut of Technology (multifilament pneumatic control) [15].…”

Section: A Technical Imitations Of Human Musculoskeletal Systemsmentioning

confidence: 99%

Co-Development of an Infant Prototype in Hardware and Simulation based on CT Imaging Data

Feldotto

Walch

Koch

et al. 2019

2019 IEEE International Conference on Cyborg and Bionic Systems (CBS)

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The development of biomimetic robots has gained research interest in the last years as it may both help understanding processes of motion execution in biological systems as well as developping a novel generation of intelligent and energy efficient robots. However, exact model generation that builds up on observations and robot design is very time intensive. In this paper we present a novel pipeline for co-development of biomimetic hardware and simulation models based on biological Computer Tomography (CT) data. For this purpose we exploit State of the Art rapid prototyping technologies such as 3D Printing and the Neurorobotics Platform for musculoskeletal simulations in virtual environments. The co-development integrates both advantages of virtual and physical experimental models and is expected to increase development speed of controllers that can be tested on the simulated counterpart before application to a printed robot model. We demonstrate the pipeline by generating a one year old infant model as a musculoskeletal simulation model and a print-in-place 3D printed skeleton as a single movable part. Even though we here only introduce the initial body generation and only a first test setup for a modular sensory and control framework, we can clearly spot advantages in terms of rapid model generation and highly biological related models. Engineering costs are reduced and models can be provided to a wide research community for controller testing in an early development phase.

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Section: A Technical Imitations Of Human Musculoskeletal Systemsmentioning

confidence: 99%

Co-Development of an Infant Prototype in Hardware and Simulation based on CT Imaging Data

Feldotto

Walch

Koch

et al. 2019

2019 IEEE International Conference on Cyborg and Bionic Systems (CBS)

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“…In terms of muscle control, the behavior of muscle actuators can be made similar to human muscle behavior by implementing artificial motor controls inspired by the characteristics of human muscles. We also implemented muscle-tendon complex control to provide muscle flexibility (35) and muscle cooperation for sharing load over redundant muscles (36).…”

Section: Development Of Kenshiromentioning

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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“…However, mooring ropes are more than 10 mm in diameter with loads of several hundred kilonewtons, whereas the ropes used in many robotic applications are thin with diameters of about 0.5 mm to 5 mm. For example, a rope of 1.6 mm in diameter was used for a humanoid [6], and 6 mm rope was used for a parallel wire robot [4]. Because of the differences in the scale of the load and the number of strands, the model of previous studies cannot be directly applied to this study without verification.…”

Section: Flory's Modelmentioning

confidence: 99%

“…They have attracted attention in tendon-driven robotics, because synthetic fiber ropes can be expected to realize tendon-driven mechanisms with a higher load capacity, smaller size, and lighter weight. For example, a cable robot was designed to use a lightweight rope to save energy [4], and a quadruped walking robot [5] and a human mimetic humanoid [6] were developed by exploiting the small bending radius of synthetic fiber ropes. Moreover, an articulated long-reach robot arm exceeding 10 m in length driven by cable-pulley systems is required to decommission the Fukushima Daiichi Nuclear Power Station [7].…”

Section: Introductionmentioning

confidence: 99%

Modeling of Synthetic Fiber Ropes and Frequency Response of Long-Distance Cable–Pulley System

Takata

Endo

Suzumori

et al. 2018

IEEE Robot. Autom. Lett.

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In recent years, synthetic fiber ropes have attracted much attention because of their potential to increase the load capacity, reduce the size, and lighten the weight of tendondriven mechanisms. However, the mechanical characteristics of synthetic fiber ropes in a dynamic loading situation remain an open problem because of their visco-elasto-plasticity. This paper focuses on modeling synthetic fiber ropes, and the frequency response of a long-distance cable-pulley system for a tendondriven robot. We show that a synthetic fiber rope can be modeled by Flory's model, and that it can be reduced to a conventional four-element model with sufficient preloading. After empirically acquiring the parameters of the four-element model for four different synthetic fiber ropes, each frequency response of a longdistance cable-pulley servo system was measured and compared to the analytical results based on the model, as well as the results of a stainless wire rope. Consequently, we show that synthetic fiber ropes achieved comparable bandwidth to that of the stainless wire rope. The damping of synthetic fiber ropes was found to suppress the servo system gain. This is useful for joint control of a tendon-driven robot with a relatively large amount of inertia, such as a long-reach robot arm.

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

Cited by 9 publications

References 14 publications

Co-Development of an Infant Prototype in Hardware and Simulation based on CT Imaging Data

Co-Development of an Infant Prototype in Hardware and Simulation based on CT Imaging Data

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

Modeling of Synthetic Fiber Ropes and Frequency Response of Long-Distance Cable–Pulley System

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