食肉目哺乳類の多義的な前肢にみられる前腕不動化機構

抄録

Carnivoran mammals (e.g., bear and lion) utilize their forearm with large number of degree of freedom for not only locomotion but also manipulation depending on situation. This study aims to understand coordination mechanism of body parts underlying animal versatile behavior in mechanical and control aspects. In this paper, we exam the effects of flexor muscles in the forearm an asian black bear on interlock mechanism in forearm that involves the radioulnar joint by measuring torsional stiffness in the forearm. Furthermore, we develop a robotic arm by mimicking the carnival mammal’s forearm to evaluate the locking mechanism in the readioulnar joint.