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Statistical analysis of muscle-actuated manipulators

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3 Author(s)
A. M. Galhano ; Fac. of Eng., Porto Univ., Portugal ; J. A. T. Machado ; J. L. M. de Carvalho

A statistical analysis of biomechanical manipulators is presented. The approach presented stems from studies of the properties of joint-actuated manipulators. Motivated by the kinesiological aspects of the human arm, it is demonstrated that biomechanical structures have better performances than standard manipulators. In fact, joint-actuated robotic structures are non-optimal because they have to support the direct impact of the operational requirements, while muscle-actuated arms are superior because they have anatomic levers and actuators more adapted to the transients required by the operational tasks. Therefore, these results are a step towards the design of a new generation of better mechanical manipulators

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992