11 citations · 25 across the 11 of their papers we have counts for
11 papers · 1 filter
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 of a Biomimetic Joint-Covering Skin with Tissue-Like Structure to Enhance Proprioception in a Musculoskeletal Humanoid
Akihiro Miki, Shun Hasegawa, Yoshimoto Ribayashi +2
Proprioception in musculoskeletal humanoids is typically estimated primarily from muscle sensing, while the role of cutaneous deformation around joints remains insufficiently explo…
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…
Vlimb: A Wire-Driven Wearable Robot for Bodily Extension, Balancing Powerfulness and Reachability
Shogo Sawaguchi, Temma Suzuki, Akihiro Miki +6
Numerous wearable robots have been developed to meet the demands of physical assistance and entertainment. These wearable robots range from body-enhancing types that assist human a…
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…
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…
Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids
Kento Kawaharazuka, Yoshimoto Ribayashi, Akihiro Miki +4
The musculoskeletal humanoid is difficult to modelize due to the flexibility and redundancy of its body, whose state can change over time, and so balance control of its legs is cha…
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…
Hardware Design and Learning-Based Software Architecture of Musculoskeletal Wheeled Robot Musashi-W for Real-World Applications
Kento Kawaharazuka, Akihiro Miki, Masahiro Bando +6
Various musculoskeletal humanoids have been developed so far. While these humanoids have the advantage of their flexible and redundant bodies that mimic the human body, they are st…
RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping
Temma Suzuki, Yasunori Toshimitsu, Yuya Nagamatsu +8
Legged robots with high locomotive performance have been extensively studied, and various leg structures have been proposed. Especially, a leg structure that can achieve both conti…