Abstract
An original way to define, analyze and design mechanical systems with inherently lifelike dynamic properties is presented. The construction of elementary actuating mechanisms for robotic manipulators which embody a complete set of technologically relevant biological principles is outlined. The ultimate objective is to develop a new class of mobile, autonomous, and interactive machines which dynamically emulates live musculoskeletal systems. This study introduces the mathematical models and algorithms to transform and synthesize the results of research in musculoskeletal physiology into explicit engineering design specifications. The application of a new contractile muscle-like viscoelastic motor as a servomechanical drive for articulated rigid link mechanisms is investigated. Key features of the neuromuscular force control by twitch summation are combined to formulate a pulse stream control method suitable for fluid powered mechanisms.
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