TY - GEN
T1 - Statistical analysis of muscle-actuated manipulators
AU - Galhano, Alexandra M.S.F.
AU - Machado, J. A.Tenreiro
AU - de Carvalho, J. L.Martins
PY - 1992/4
Y1 - 1992/4
N2 - A statistical analysis of biomechanical manipulators is presented. The new approach presented here stems from previous studies of the properties of joint-actuated manipulators. Motivated by the kinesiological aspects of the human arm, it is demonstrated that biomechanical structures have better performances than standard manipulators. In fact, joint-actuated robotic structures are non-optimal because they have to support the direct impact of the operational requirements, while muscle-actuated arms are superior because they have anatomic levers and actuators more adapted to the transients required by the operational tasks. Therefore, these results are a step towards the design of a new generation of better mechanical manipulators.
AB - A statistical analysis of biomechanical manipulators is presented. The new approach presented here stems from previous studies of the properties of joint-actuated manipulators. Motivated by the kinesiological aspects of the human arm, it is demonstrated that biomechanical structures have better performances than standard manipulators. In fact, joint-actuated robotic structures are non-optimal because they have to support the direct impact of the operational requirements, while muscle-actuated arms are superior because they have anatomic levers and actuators more adapted to the transients required by the operational tasks. Therefore, these results are a step towards the design of a new generation of better mechanical manipulators.
UR - http://www.scopus.com/inward/record.url?scp=0026846085&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0026846085
SN - 0818627204
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 332
EP - 337
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
T2 - Proceedings 1992 IEEE International Conference on Robotics and Automation
Y2 - 12 May 1992 through 14 May 1992
ER -