Publication

Hanyang University HumanRobotics Lab

International Conference
Design of multi-degree-of-freedom spring mechanisms: biomimetic approach
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems
Author
B.-J. Yi, J. H. Lee, W. K. Kim, and I. H. Suh
Year
2000
Date
2000.10.31
File
[2000]Design of Multi-Degree-of-Freedom Spring Mechanisms - Biomimetic Approach.pdf (524.4K) 0회 다운로드 DATE : 2020-10-17 16:40:56
Springs have been employed in a wide range of mechanical systems. This work deals with the design of multi degree-of-freedom spring mechanism. The adaptable spring is desired for enhancing performances of various mechanical systems employing springs. We demonstrate that such adaptable springs can be realized by adopting anthropomorphic musculoskeletal structures of the human upper-extremity, which possesses highly nonlinear kinematic-coupling among redundant muscles existing in its structures. We propose multi-degree-of-freedom spring mechanisms resembling the musculoskeletal structure of the human upper-extremity, and verify the applicability of these mechanisms through simulation.