Development and Characteristics of a Highly Biomimetic Robotic Shoulder Through Bionics-Inspired Optimization

This paper critically analyzes conventional and biomimetic robotic arms, underscoring the trade-offs between size, motion range, and load capacity in current biomimetic models. By delving into the human shoulder's mechanical intelligence, particularly the glenohumeral joint's intricate features such as its unique ball-and-socket structure and self-locking mechanism, we pinpoint innovations that bolster both stability and mobility while maintaining compactness. To substantiate these insights, we present a groundbreaking biomimetic robotic glenohumeral joint that authentically mirrors human musculoskeletal elements, from ligaments to tendons, integrating the biological joint's mechanical intelligence. Our exhaustive simulations and tests reveal enhanced flexibility and load capacity for the robotic joint. The advanced robotic arm demonstrates notable capabilities, including a significant range of motions and a 4 kg payload capacity, even exerting over 1.5 Nm torque. This study not only confirms the human shoulder joint's mechanical innovations but also introduces a pioneering design for a next-generation biomimetic robotic arm, setting a new benchmark in robotic technology

肘関節粘弾性特性分析に基づいた可変粘弾性握手マニピュレータの開発

【学位授与の要件】中央大学学位規則第4条第1項【論文審査委員主査】中村　太郎　（中央大学理工学部教授）【論文審査委員副査】平岡　弘之（中央大学理工学部教授）、新妻　実保子（中央大学理工学部准教授）、諸麥　俊司（中央大学理工学部准教授）、万　偉偉（大阪大学准教授）博士(工学)中央大