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The statistical study of biomechanical arms

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3 Author(s)
Galhano, A.M.S. ; Dept. of Electr. & Comput. Eng., Porto Univ., Portugal ; de Carvalho, J.L.M. ; Machado, J.A.T.

A statistical approach to the analysis of biomechanical manipulators is presented. The new method stems from previous studies on mechanical joint-actuated manipulators (see ibid. p.424-9). Motivated by the kinesiological aspects of the human arm, the authors demonstrate that biomechanical structures have better performance than standard manipulators. It is observed that joint-actuated robotic structures are nonoptimal because they have to support the direct impact of the operational requirements, whereas, muscle-actuated arms are intrinsically superior because the anatomic levers adapt the operational exigencies to the actuators. This observation provides a clear basis for the design of new mechanical manipulator structures, with performances close to those of the biological systems

Published in:

Intelligent Control, 1990. Proceedings., 5th IEEE International Symposium on

Date of Conference:

5-7 Sep 1990

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