Design of upper limb by adhesion of muscles and bones — Detail human mimetic musculoskeletal humanoid kenshiro

摘要

This paper presents a design methodology for humanoid upper limb based on human anatomy. Kenshiro is a full body tendon driven humanoid robot and is designed from the data of average 14 year old Japanese boy. The design of his upper limb is realizing detail features of muscles, bones and the adhesive relation of the two. Human mimetic design is realized by focusing on the fact that joints are being stabled by muscles winding around the bones, and by accurately mimicking the bone shape this was enabled. In this paper we also introduce details of mechanical specifications of the upper limb. By having muscles, bones, and joint structures based on human anatomy, Kenshiro can move flexibly. The use as human body simulator can be expected by measuring sensor data which can correspond to biological data.