A Mechanical Realization of Musculo-Skeletal System-Control of Joint Angle and Joint Stiffness-

This paper presents a mechanical system that fundamentally mimics a human musculo-skeletal system aiming for using it in anthropomorphic robots or artificial limbs for disabled persons. At first, it introduces a mechanical module called ANLES (Actuator with Non-Linear Elasticity System). It can be used as voluntary muscles since it is a linear actuator with non-linear elasticity similar to muscle of human articulations. Next it derives dual equations to independently control joint angle and joint stiffness, in which antagonistic alignment of the ANLESes similar to a musclo-skeletal system is premised. Next it presents an elbow joint that is controlled by multiple ANLESes in antagonistic structure.