1 citations · 3 across the 9 of their papers we have counts for
10 papers
Robotic Physical Comparison of Biologically Motivated and Counterfactual Sensory Arrangements using Biomimetic Skin
Akihiro Miki, Shun Hasegawa, Yoshimoto Ribayashi +3
Human skin contains diverse mechanoreceptors, including Merkel cells and Pacinian corpuscles, each localized in specific regions. Although their spatial organization is known to be…
Design optimization of tendon-driven robots considering tendon wrapping and shortcut
Yuta Sahara, Kento Kawaharazuka, Kei Okada
This study proposes a multi-objective optimization method for tendon-driven arm design, addressing the inherent trade-off between joint torque and arm thickness through tendon wrap…
Exploring the proprioceptive potential of joint receptors using a biomimetic robotic joint
Akihiro Miki, Shun Hasegawa, Sota Yuzaki +4
In neuroscience, joint receptors have traditionally been viewed as limit detectors, providing positional information only at extreme joint angles, while muscle spindles are conside…
An RGB-D Camera-Based Multi-Small Flying Anchors Control for Wire-Driven Robots Connecting to the Environment
Shintaro Inoue, Kento Kawaharazuka, Keita Yoneda +4
In order to expand the operational range and payload capacity of robots, wire-driven robots that leverage the external environment have been proposed. It can exert forces and opera…
Design Optimization of Three-Dimensional Wire Arrangement Considering Wire Crossings for Tendon-driven Robots
Kento Kawaharazuka, Shintaro Inoue, Yuta Sahara +3
Tendon-driven mechanisms are useful from the perspectives of variable stiffness, redundant actuation, and lightweight design, and they are widely used, particularly in hands, wrist…
Fundamental Three-Dimensional Configuration of Wire-Wound Muscle-Tendon Complex Drive
Yoshimoto Ribayashi, Yuta Sahara, Shogo Sawaguchi +5
For robots to become more versatile and expand their areas of application, their bodies need to be suitable for contact with the environment. When the human body comes into contact…
CubiXMusashi: Fusion of Wire-Driven CubiX and Musculoskeletal Humanoid Musashi toward Unlimited Performance
Shintaro Inoue, Kento Kawaharazuka, Temma Suzuki +4
Humanoids exhibit a wide variety in terms of joint configuration, actuators, and degrees of freedom, resulting in different achievable movements and tasks for each type. Particular…
Patterned Structure Muscle : Arbitrary Shaped Wire-driven Artificial Muscle Utilizing Anisotropic Flexible Structure for Musculoskeletal Robots
Shunnosuke Yoshimura, Akihiro Miki, Kazuhiro Miyama +4
Muscles of the human body are composed of tiny actuators made up of myosin and actin filaments. They can exert force in various shapes such as curved or flat, under contact forces…
Construction of Musculoskeletal Simulation for Shoulder Complex with Ligaments and Its Validation via Model Predictive Control
Yuta Sahara, Akihiro Miki, Yoshimoto Ribayashi +4
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design…
Designing Fluid-Exuding Cartilage for Biomimetic Robots Mimicking Human Joint Lubrication Function
Akihiro Miki, Yuta Sahara, Kazuhiro Miyama +6
The human joint is an open-type joint composed of bones, cartilage, ligaments, synovial fluid, and joint capsule, having advantages of flexibility and impact resistance. However, r…