Development of Musculoskeletal Spine Structure with Variable Stiffness to Resist Force of Neck Muscles

• Motegi Yotaro

  The University of Tokyo, Graduate School of Information Science and Technology

• Kawasaki Koji

  The University of Tokyo, Graduate School of Information Science and Technology

• Kozuki Toyotaka

  The University of Tokyo, Graduate School of Information Science and Technology

• Shirai Takuma

  The University of Tokyo, Graduate School of Information Science and Technology

• Asano Yuki

  The University of Tokyo, Graduate School of Information Science and Technology

• Nakanishi Yuto

  The University of Tokyo, Graduate School of Information Science and Technology

• Okada Kei

  The University of Tokyo, Graduate School of Information Science and Technology

• Inaba Masayuki

  The University of Tokyo, Graduate School of Information Science and Technology

Bibliographic Information

Other Title

• 筋骨格ヒューマノイドにおける頸部筋群負荷を支持可能な剛性可変脊椎構造の開発
• キンコッカク ヒューマノイド ニ オケル ケイブキングン フカ オ シジ カノウ ナ ゴウセイ カヘン セキツイ コウゾウ ノ カイハツ

Abstract

Human has a strong spine which can generate dynamic and flexible motion. We focus on its mechanisms and implement them to a robot spine of a musculoskeletal humanoid through hardware design. First, this paper describes methods to develop the robot spine which has both strength and flexibility. We separated 3 vertebra groups from the spine like a human and applied some machining methods to each group. Second, we show a human-like muscle arrangement of the spine including planar muscles. The planar muscles have larger surface and power than linear muscles designed with conventional methods. Therefore, the spine can keep its posture even if it receives force by a dynamic arm motion. Finally, we show a variable stiffness system of the spine to resist an impact by which the spine structure and muscles damage. We tested the system in the situation of whiplash injury which often occur in rear-end collision in a vehicle body.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 32 (7), 615-623, 2014

  The Robotics Society of Japan

Keywords

• Musculoskeletal Humanoid
• Human-like Spine
• Planar Muscle
• Variable Stiffness

Details

• CRID: 1390001204730011392
• NII Article ID: 130004697452
• NII Article ID: 40020202537
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.32.615
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 025794234
• Web Site: http://id.ndl.go.jp/bib/025794234
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I025794234
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed