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Title
Japanese:多関節筋肉で駆動されるシリアルリンク機構の力学安定性 
English: 
Author
Japanese: 石川雄大, 難波江裕之, 鈴森康一.  
English: Yuta Ishikawa, Hiroyuki Nabae, Koichi Suzumori.  
Language Japanese 
Journal/Book name
Japanese:ロボティクス・メカトロニクス講演会2023講演論文集 
English: 
Volume, Number, Page        
Published date June 28, 2023 
Publisher
Japanese:一般社団法人 日本機械学会 
English: 
Conference name
Japanese:日本機械学会ロボティクス・メカトロニクス講演会2023 
English:ROBOMECH2023 in Nagoya 
Conference site
Japanese:愛知県名古屋市 
English: 
Official URL https://robomech.org/2023/
 
Abstract Vertebrates have multi-joint skeleton and soft muscles that enable them to adapt to their environment and to perform flexible whole-body movements. Although the drive of multi-articular muscles across multiple joints is important for flexible movement, it is known that if the support of each joint is inadequate, buckling may occur. In order to avoid this buckling, this study focused on the restraint strength of muscle pathways running along the vertebral column. Using thin McKibben artificial muscles, we made multiarticular muscle driven serial link mechanism, and revealed that the restraint of the muscle pathways is useful for improving the stability of the multiarticular-muscle-driven system.

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