Design of Multi-Degree-of-Freedom Spring Mechanisms : Biomimetic Approach
- Title
- Design of Multi-Degree-of-Freedom Spring Mechanisms : Biomimetic Approach
- Author
- 이병주
- Keywords
- Springs; Biomimetics; Humans; Muscles; Musculoskeletal system; Frequency; Mechanical systems; Vibration control; Resonance; Control systems
- Issue Date
- 2000-11
- Publisher
- IEEE/RSJ
- Citation
- Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, v. 3, page. 1791-1797
- Abstract
- Springs have been employed in a wide range of mechanical systems. This work deals with the design of multi degree-of-freedom spring mechanism. The adaptable spring is desired for enhancing performances of various mechanical systems employing springs. We demonstrate that such adaptable springs can be realized by adopting anthropomorphic musculoskeletal structures of the human upper-extremity, which possesses highly nonlinear kinematic-coupling among redundant muscles existing in its structures. We propose multi-degree-of-freedom spring mechanisms resembling the musculoskeletal structure of the human upper-extremity, and verify the applicability of these mechanisms through simulation.
- URI
- https://repository.hanyang.ac.kr/handle/20.500.11754/162458
- ISBN
- 0-7803-6348-5
- DOI
- 10.1109/IROS.2000.895231
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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