抄録
The aim of this research is to develop a musculoskeletal robot arm which has a similar mechanical structure to that of a human. In recent years, many musculoskeletal robots have been intensively studied to investigate advantages of their mechanical designs. In this research, we focus on a shoulder complex, which consists of several bones and joints, because it is the most difficult part to develop in humanlike musculoskeletal robot arms. In particular, we develop a shoulder complex linkage mechanism that can realize complex 3DOFs motions of the scapula. The validity is confirmed in terms of its range-of-motion comparing with that of humans.
