Proposal for a Biomimetic Humanoid Upper Limb Robot
The field of humanoid robotics is developing with the increase in human-robot interactions. As robots are expected to function in more human-like ways, they must be designed to have a human-like form. This project examines existing artificial muscles and upper limb humanoid robots to inform a future design using Hydro Muscles. An anatomically inspired approach was used so that common human actions could be performed in lifelike ways. In the future, the design in this proposal could be prototyped and tested for muscle selection, force application, and control.
MUSCULOSKELETAL DESIGN
This robot is proposed to use Hydro Muscles to perform the same actions as biological human muscles in the upper limbs. Twelve muscles were chosen for each arm in an attempt to minimize the number of actuators needed to cover the degrees of freedom that the upper limbs can achieve.
The following report was written for the WPI course RBE 520: Biomechanics and Robotics and has not been published.
