Yasuto Kimura

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This paper suggests a novel reaction force control in a robot manipulator by position feedback, motivated by the analysis of human musculoskeletal system. First, we suggest an analogy between a muscle force characteristic and two-degree-of-freedom control input structure so that the complicated human muscle structure can be reflected in robot manipulator(More)
We have suggested a novel statics and force control can be achieved in a more simple way by using the biarticular muscle coordinate. In order to verify these characteristics, a robot arm with two links that are driven by planetary gear is developed in this paper.
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— This paper proposes totally novel kinematics, statics and dynamics of a two-link manipulator and develops a control algorithm based on them which enables two-link manipulators behave more like human or animals. There are two main points: introduction of biarticular muscle/actuator coordination and utilization of the rotating reference frame instead of the(More)
—In this paper, we attempt to equip the bi-articular driving system with a robot arm. Bi-articular driving system is a unique actuator of animals and contribute to animals' flexible motion control. The arm has an actuator that can drive two joints simultaneously, so there is difference between conventional robot arms and the robot arm. Conventional robots(More)
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