Galhano, AlexandraTenreiro Machado, J. A.Carvalho, J. L. Martins de2019-04-081992-05-12http://hdl.handle.net/10400.22/13464Joint-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.engKinematicsManipulatorsStatistical analysisconference object10.1109/ROBOT.1992.220317