The Adopation of Extremities Consist of Muscles Coordinate System to the Contact Task in the Task Coordinate System

Abstract

In general, a conventional robot arm has the joint coordinate system constructed from equal number of actuators to number of its joints, whereas a human and animal extremity have the muscles coordinate system consisting of three pairs of antagonistic muscles, one antagonistic pair of bi-articular muscles acting simultaneously on both joints in addition to the antagonistic pair of mono-articular muscles on each joint. In the present study, on contact task which is one factor for reproducing the motion of the animal, the mechanical properties of the endpoint of the two joint link model equipped with muscles coordinate system including bi-articular muscles and joint coordinate system without bi-articular muscles were examined theoretically and experimentally in terms of robotics.