Galhano, AlexandraCarvalho, J. L. Martins deTenreiro Machado, J. A.2019-03-262019-03-261990-09-05http://hdl.handle.net/10400.22/13153In a companion paper a statistical method for the analysis and design of robot manipulators was presented. The new formalism revealed the limitations of 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. These results are utmost importance as they give a clear basis to the design of new mechanical robotic structures, with performances close to the biological systems.engconference object