Human Mimetic Forearm Design with Radioulnar Joint using Miniature Bone-Muscle Modules and Its Applications

Forearm of Kengoro, composed of newly developed miniature bone-muscle module. In recent years, development of the humanoid is vigorous. The humanoid, beginning with the ASIMO [1], has two arms The conventional method of installing the muscle modules and two legs, and can move and walk like a human. The such as [8], [9] to the structure excels in maintainability and development of not only the humanoid, but of the tendondriven reliability, and includes electric motors, which have better musculoskeletal humanoid, which is based on various controllability. However, we need to miniaturize the modules parts of the human body, is also vigorous [2], [3]. The or propose other approaches in order to achieve many DOFs tendon-driven musculoskeletal humanoid is based on not without deviating from the human body proportion, because only the body proportion but also the joint structure, drive the conventional muscle modules are large in size, and system, and muscle arrangement of the human body, and is need other wasteful structures to function. Additionally, the used to analyze human motion and to achieve human skillful muscle arrangements, the proportion of the forearm, and the motion. Of these studies, there are many which duplicate the benefits of the radioulnar structure are not discussed at all human joint structure.