Development of two-link manipulator equipped with biarticular muscle mechanism using flexible actuator

Yuki Saito, Wataru Motooka, Takahiro Nozaki, Daisuke Yashiro, Kouhei Ohnishi

Research output: Contribution to journalArticle

2 Citations (Scopus)


In this paper, a novel mechanism and a controller for two-link manipulators with two monoarticular muscle mechanisms and one biarticular muscle mechanism are proposed. The monoarticular and biarticular muscle mechanisms are actuated by eight flexible actuators that consist of one linear motor and one thrust wire. The validity of the mechanism and controller is confirmed by experiments.

Original languageEnglish
Pages (from-to)397-403
Number of pages7
Journalieej transactions on industry applications
Issue number3
Publication statusPublished - 2012 Apr 2



  • Antagonistic drive
  • Biarticular muscle
  • Flexible actuator
  • Monoarticular muscle

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

Cite this