On the statistical analysis of biomechanical arms

Galhano, Alexandra; Carvalho, J. L. Martins de; Tenreiro Machado, J. A.

http://hdl.handle.net/10400.22/13466

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Authors

Galhano, Alexandra

Carvalho, J. L. Martins de

Tenreiro Machado, J. A.

Abstract(s)

Standard joint-actuated manipulators 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 requirements to the actuators. The statistical analysis of thes systems highlights its main properties and cosntitutes a step towards the design of new mechanical robotic structures, with performances closer to the biological arms.