Galhano, AlexandraTenreiro Machado, J. A.2019-04-082019-04-081999-11-01http://hdl.handle.net/10400.22/13444Present day mechanical manipulators have poor performances when compared with the human arm. In fact, joint-drivem manipulators are not efficient dues to the high actuator 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 linear actuators. The kinematic analysis of these systems highlights its main properties and constitutes a step towards the design of new mechanical biological-like robotic structures adopting linear actuators replacing the standard rotational joint-driving motor systems.engMechanical manipulatorsRobotic manipulatorsKinematicArm biomechanicsconference object