Abstract
In this work, two flexible ropes are winded to an electronic motor in opposite directions and the other terminal ends are pinned to two jointed points for mimicking the artificial muscles. Electrical signals from a neural circuit are used to control the rotation of electronic motor(s), and the pulling forces along the flexible ropes control the rotation angles of the jointed pendulums as legs. The leg gaits are investigated in dynamics by changing the channel current shunted from the neural circuit, and the electronic motor-controlled flexible ropes behave as artificial muscles. A single neural circuit and two coupled neural circuits are used to control the electromechanical legs by adjusting the forcing current. The neural circuit drives the electronic motor and then jointed pendulums are controlled. The circuit equations, rotation equations and energy description are presented. It provides possible guidance to design artificial muscles for aiding disabled legs and arms.
Published Version
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