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- Statistical analysis of muscle-actuated manipulatorsPublication . Galhano, Alexandra; Tenreiro Machado, J. A.; Carvalho, J. L. Martins deJoint-actuated robots have poor performances due to the high requirements imposed by the transients of the operational tasks. Muscle-actuated arms are superior because the anatomic levers adapt the manipulating exigencies to the driving actuators, The statistical analysis of these systems highlights its main properties and constitutes a step towards the design of new mechanical biological-like robotic structures.