Abstract
When general-purpose properties are demanded in the muscle driven system, it is difficult to decide most appropriate muscle force and muscle arrangement at design phase. Muscle type actuator modules that are added easily enable enhancing muscle force according to motion and specializing capability with change of muscle arrangement. This paper describes development of a muscle type actuator module for enhancing muscle driven system and verification of effect of the addition for a musculo-skeletal humanoid through actual equipment experiments.
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