Mathematical and Experimental Verification of Efficient Force Transmission by Biarticular Muscle Actuator

Abstract This paper proves that the biarticular muscle structure which is common in most of animals improves the force generation efficiency in a two-link manipulator. To this end, the statics of two configurations – two joint-actuators configuration and one joint-actuator and one biarticular actuator configuration – are compared using two types of Jacobian. Moreover, the statics are simplified to clarify this difference and an analytical solution about the efficiency of the biarticular muscle structure is proposed. Finally, experimental results verify this advantage of the biarticular muscle structure.

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