Abstract:
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 t...Show MoreMetadata
Abstract:
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 a contact task and positional control similar to human movement. Particular attention was paid to the motion stiffness characteristics from the perspective of biomechanics, and the results are expected to improve motion performance in future studies of robotic simulation of human movement.
Published in: RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication
Date of Conference: 27 September 2009 - 02 October 2009
Date Added to IEEE Xplore: 10 November 2009
CD:978-1-4244-5081-7