Biomimetic design of musculoskeletal humanoid knee joint with patella and screw-home mechanism

We are trying to create a novel musculoskeletal humanoid robot which has a humanlike structure. In this paper, we present a new knee joint which is usually simplified in robotics for high controllability. The knee joint has three human mimetic points, patella, screw-home mechanism and four-linked linkage. Patella is for a longer moment arm. Screw-home mechanism is for locking knee joint. Four-linked linkage is for making humanlike motion. Furthermore, we confirmed those performances by three experiments.