This paper presents a redundant musculoskeletal robot using thin McKibben muscles that is based on human anatomy.
The purpose of this robot is to achieve motions and characteristics that are very similar to a human body. We use
a thin McKibben muscle, which is compliant and flexible, as the actuator of a musculoskeletal robot. Using a bundle
of thin McKibben muscles, we develop a multifilament muscle that has characteristics similar to those of human
muscles. In contrast, the actuators of conventional musculoskeletal robots are very heavy, not densely attached and
have poor backdrivability. Because multifilament muscles are light and can be densely attached, we can attach them
to the musculoskeletal robot as skeletal muscle and achieve a redundant system that is equivalent to a human drive
mechanism. In this paper, we report a method for fabricating multifilament muscles that imitate various muscles,
the development of a lower-limb muscle mechanism for the redundant musculoskeletal robot with thin McKibben
muscles and experimental results showing that the proposed musculoskeletal robot achieves humanlike motions that
have not yet been reported for other robots.
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