Enhancing the Performance of a Biomimetic Robotic Elbow-and-Forearm System Through Bionics-Inspired Optimization

Yang, Haosen; Wei, Guowu; Ren, Lei

Abstract

This article delineates the formulation and verification of an innovative robotic elbow-and-forearm system design, mirroring the intricate biomechanics of human musculoskeletal systems. Conventional robotic models often undervalue the substantial function of soft tissues, which provides a compromise between compactness, safety, stability, and range of motion. In contrast, this study proposes a holistic replication of biological joints, encompassing bones, cartilage, ligaments, and tendons, culminating in a biomimetic robot. The research underscores a compact and stable structure of the human elbow and forearm, attributable to a tri-bone framework and diverse soft tissues. The methodology involves exhaustive examinations of human anatomy, succeeded by a theoretical exploration of the contribution of soft tissues to the stability of a prototype robotic elbow-and-forearm system. Evaluation results unveil remarkable parallels in the range of motion between the robotic joints and their human counterparts. The robotic elbow emulates 98.8% of the biological elbow's range of motion, with high torque capacities of 11.25 N

Citation

Yang, H., Wei, G., & Ren, L. (2024). Enhancing the Performance of a Biomimetic Robotic Elbow-and-Forearm System Through Bionics-Inspired Optimization. IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 40, 2692 - 2711. https://doi.org/10.1109/tro.2024.3386615

• Journal Article Type: Article
• Acceptance Date: Mar 15, 2024
• Publication Date: Apr 19, 2024
• Deposit Date: Aug 1, 2024
• Journal: IEEE Transactions on Robotics
• Print ISSN: 1552-3098
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 40
• Pages: 2692 - 2711
• DOI: https://doi.org/10.1109/tro.2024.3386615
• Keywords: Electrical and Electronic Engineering, Computer Science Applications, Control and Systems Engineering