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Title
Japanese: 
English:The effect of muscle path restraint on the stability of a serial-link mechanism driven by antagonistic multi-articular muscles 
Author
Japanese: 石川雄大, 難波江裕之, 鈴森康一.  
English: Yuta Ishikawa, Hiroyuki Nabae, Koichi Suzumori.  
Language English 
Journal/Book name
Japanese: 
English:Journal of Advanced Mechanical Design, Systems, and Manufacturing 
Volume, Number, Page Vol. 17    No. 6    p. JAMDSM0075
Published date Nov. 28, 2023 
Publisher
Japanese:一般社団法人 日本機械学会 
English:The Japan Society of Mechanical Engineers 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
DOI https://doi.org/10.1299/jamdsm.2023jamdsm0075
Abstract Vertebrates achieve a high degree of flexibility and skillful performance via a musculoskeletal system consisting of multiple joints. These joints are simultaneously driven by some multi-articular muscles, which run over two or more joints and synchronize the musculoskeletal system. However, when multi-articular muscles contract, buckling may occur in the system if each joint is not adequately supported, such as by monoarticular muscles or intervertebral discs, and we previously investigated the stability conditions for avoiding such buckling by calculating the potential energy of the muscle elasticity. Although in our previous work we considered only the muscles themselves, actual animal muscles are surrounded and constrained by fascia, other muscles, and skin, which may also influence the stability of the musculoskeletal system. Based on this characteristic, in this study, we examined the effect of the surrounding elastic elements that constrain the muscle pathway on the stability of the musculoskeletal system. We analyzed the static stability of the system with respect to potential energy using a muscle path restraint model of the serial link mechanism driven by McKibben-type pneumatic artificial muscles. Moreover, we confirmed the analytical result by conducting an experiment using a six-joint serial link robot driven by antagonistically arranged pneumatic artificial muscles. The results revealed that the restraint of the muscle path influences the stability of the system, and that the support of each joint and restraint is critical for the stability of the system.

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