Mathematical and experimental verification of efficient force transmission by biarticular muscle actuator

Sehoon Oh; Valerio Salvucci; Yasuto Kimura; Yoichi Hori

doi:10.3182/20110828-6-IT-1002.03406

Mathematical and experimental verification of efficient force transmission by biarticular muscle actuator

Sehoon Oh, Valerio Salvucci, Yasuto Kimura, Yoichi Hori

Department of Robotics and Mechatronics Engineering

The University of Tokyo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Scopus citations

Abstract

This paper proves that the biarticular muscle structure which is common in most of animals improves the force generation efficiency in a two-link manipulator. To this end, the statics of two configurations - two joint-actuators configuration and one joint-actuator and one biarticular actuator configuration - are compared using two types of Jacobian. Moreover, the statics are simplified to clarify this difference and an analytical solution about the efficiency of the biarticular muscle structure is proposed. Finally, experimental results verify this advantage of the biarticular muscle structure.

Original language	English
Title of host publication	Proceedings of the 18th IFAC World Congress
Publisher	IFAC Secretariat
Pages	13516-13521
Number of pages	6
Edition	1 PART 1
ISBN (Print)	9783902661937
DOIs	https://doi.org/10.3182/20110828-6-IT-1002.03406
State	Published - 2011

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	1 PART 1
Volume	44
ISSN (Print)	1474-6670

Bibliographical note

Funding Information:
This work was supported in part by the Inamori Foundation

Keywords

Mechatronic systems
Modeling
Robots manipulators

Access to Document

10.3182/20110828-6-IT-1002.03406

Cite this

Oh, S., Salvucci, V., Kimura, Y., & Hori, Y. (2011). Mathematical and experimental verification of efficient force transmission by biarticular muscle actuator. In Proceedings of the 18th IFAC World Congress (1 PART 1 ed., pp. 13516-13521). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 44, No. 1 PART 1). IFAC Secretariat. https://doi.org/10.3182/20110828-6-IT-1002.03406

@inproceedings{5b81608ba57d4b348adf6e03c3e1ab0a,

title = "Mathematical and experimental verification of efficient force transmission by biarticular muscle actuator",

abstract = "This paper proves that the biarticular muscle structure which is common in most of animals improves the force generation efficiency in a two-link manipulator. To this end, the statics of two configurations - two joint-actuators configuration and one joint-actuator and one biarticular actuator configuration - are compared using two types of Jacobian. Moreover, the statics are simplified to clarify this difference and an analytical solution about the efficiency of the biarticular muscle structure is proposed. Finally, experimental results verify this advantage of the biarticular muscle structure.",

keywords = "Mechatronic systems, Modeling, Robots manipulators",

author = "Sehoon Oh and Valerio Salvucci and Yasuto Kimura and Yoichi Hori",

note = "Funding Information: This work was supported in part by the Inamori Foundation",

year = "2011",

doi = "10.3182/20110828-6-IT-1002.03406",

language = "English",

isbn = "9783902661937",

series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",

publisher = "IFAC Secretariat",

number = "1 PART 1",

pages = "13516--13521",

booktitle = "Proceedings of the 18th IFAC World Congress",

edition = "1 PART 1",

}

Mathematical and experimental verification of efficient force transmission by biarticular muscle actuator. / Oh, Sehoon; Salvucci, Valerio; Kimura, Yasuto et al.
Proceedings of the 18th IFAC World Congress. 1 PART 1. ed. IFAC Secretariat, 2011. p. 13516-13521 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 44, No. 1 PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Mathematical and experimental verification of efficient force transmission by biarticular muscle actuator

AU - Oh, Sehoon

AU - Salvucci, Valerio

AU - Kimura, Yasuto

AU - Hori, Yoichi

N1 - Funding Information: This work was supported in part by the Inamori Foundation

PY - 2011

Y1 - 2011

N2 - This paper proves that the biarticular muscle structure which is common in most of animals improves the force generation efficiency in a two-link manipulator. To this end, the statics of two configurations - two joint-actuators configuration and one joint-actuator and one biarticular actuator configuration - are compared using two types of Jacobian. Moreover, the statics are simplified to clarify this difference and an analytical solution about the efficiency of the biarticular muscle structure is proposed. Finally, experimental results verify this advantage of the biarticular muscle structure.

AB - This paper proves that the biarticular muscle structure which is common in most of animals improves the force generation efficiency in a two-link manipulator. To this end, the statics of two configurations - two joint-actuators configuration and one joint-actuator and one biarticular actuator configuration - are compared using two types of Jacobian. Moreover, the statics are simplified to clarify this difference and an analytical solution about the efficiency of the biarticular muscle structure is proposed. Finally, experimental results verify this advantage of the biarticular muscle structure.

KW - Mechatronic systems

KW - Modeling

KW - Robots manipulators

UR - http://www.scopus.com/inward/record.url?scp=84866763799&partnerID=8YFLogxK

U2 - 10.3182/20110828-6-IT-1002.03406

DO - 10.3182/20110828-6-IT-1002.03406

M3 - Conference contribution

AN - SCOPUS:84866763799

SN - 9783902661937

T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)

SP - 13516

EP - 13521

BT - Proceedings of the 18th IFAC World Congress

PB - IFAC Secretariat

ER -

Mathematical and experimental verification of efficient force transmission by biarticular muscle actuator

Abstract

Publication series

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

Cite this