Development of Joint with Planar Traction Structure on Musculoskeletal Humanoids

Abstract

In the musculoskeletal humanoid trying to make use of advantage of the human body by mimicking its structure, ligaments, which constrain the joint movement softly and form the complex range of motion, are no less important traction structure between skeleton than muscles which actuate the body. However, the conventional linear traction structure with wire cannot maintain stable tension depending on the posture change of the joint. In this study, we a propose planar traction structure as traction structure between skeleton, and describe and evaluate its advantages. Also, we attached the planar collateral ligaments to the knee joint, and realized screw-home movement like the human knee joint.