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ABSTRACT This paper describes the construction and design decisions of an anthropomorphic musculoskeletal robot arm actuated by pneumatic artificial muscles. This robot was designed to allow human-inspired compliant movements without… Click to show full abstract
ABSTRACT This paper describes the construction and design decisions of an anthropomorphic musculoskeletal robot arm actuated by pneumatic artificial muscles. This robot was designed to allow human-inspired compliant movements without the need to replicate the human body-structure in detail. This resulted in an mechanically simple design while preserving the motoric characteristics of a human. Besides the constructional details of the robot we will present two experiments to show the robots abilities regarding to its dexterity and compliance. GRAPHICAL ABSTRACT
Journal Title: Advanced Robotics
Year Published: 2018
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