Vertebrates have multi-joint skeleton and soft muscles that enable them to adapt to their environment and to perform flexible whole-body movements. Although the drive of multi-articular muscles across multiple joints is important for flexible movement, it is known that if the support of each joint
is inadequate, buckling may occur. In order to avoid this buckling, this study focused on the restraint strength of muscle pathways running along the vertebral column. Using thin McKibben artificial muscles, we made multiarticular muscle driven serial link mechanism, and revealed that the restraint of the muscle pathways is useful for improving the stability of the multiarticular-muscle-driven system.
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