Abstract
This paper presents a design method of upper limb, for human mimtic musculoskeletal humanoid Kenshiro. The design of his upper limb is realizing detail features of muscles, bones and the adhesive relation of the two. Human mimetic design is realized by focusing on the fact that joints are being stabled by muscles winding around the bones. On designing a human mimetic robot, we define criteria on what it is to be “human mimetic” in a humanoid robot. Focusing on adhesion of muscles and bones, and by following human mimetic criteria, Kenshiro's arm was made. The use of this robot can be expetcted as a human body simulator, by measuring sensor data which can correspond to biological data.
