7 papers
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…