3P1-G05 Design of Forearm for Detail Human Mimetic Musculoskeletal Humanoid Kenshiro : Forearm with Radius and Ulna by Linear actuator with integrated sensor system(Medical Robotics and Mechatronics (2))

Abstract

The robots explained here is the forearm of human mimetic musculoskeletal humanoid robot "Kenshiro". Kenshiro is designed based on human anatomy, and consists of muscles, bones,and joint structures to move flexibly and dynamically. To design a robot with human like body structure, this paper presents a design methodology for forearm with new actuation mechanism with integrated sensor system. A new actuation approach was developed to fulfil the severe spatial constraints to be compatible with radius and ulna. The pronation and eversion is enabled by the structure of wires winding around the skeletal structure.