食肉目哺乳類の多義的な前肢の筋腱連動メカニズムの検討

抄録

Carnivoran mammals (e.g., lion and bear) utilize their forelimbs as locomotors and manipulators depending on situations (e.g., walking and feeding). We call such body parts exhibiting situation-dependent functionality “polysemantic body” and expect a new design principle for versatile robots. In this study, we focus on pronation-supination motions of the carnivorous forearm and measure the torsional stiffness of an Asiatic black bear’s forearm with altered vertical load for body support. The results suggest that the interlocking mechanism via the superficial muscles realizes the vertical load-dependent torsional stiffness.