Galhano, AlexandraTenreiro Machado, J. A.Carvalho, J. L. Martins de2019-04-082019-04-081991-06-19http://hdl.handle.net/10400.22/13458In previous studies a statistical method for the analysis and design of robot manipulators was developed. The new formalism revealed the limitations od standard joint-actuated mechanical manipulators. Steming from those results, in this paper we apply the new modelling concepts on the study of biological arms. The superior performances of muscle-actuated arms over standard joint-actuated manipulators are clearly demosntrated. Therefore, the resultes are a step towards the design of a new mechanical robotic structures, with performances close to the biological systems.engconference object10.1109/ICAR.1991.240474