{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,10]],"date-time":"2026-02-10T10:40:45Z","timestamp":1770720045290,"version":"3.49.0"},"reference-count":18,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2010,5,3]],"date-time":"2010-05-03T00:00:00Z","timestamp":1272844800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2010,5,3]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to focus on an engineering application of the vertebrate musculoskeletal system. The musculoskeletal system has unique mechanisms such as bi\u2010articular muscle, antagonistic muscle pairs and muscle\u2010tendon elasticity. The \u201cartificial musculoskeletal system\u201d is achieved through the use of the pneumatic artificial muscles. The study provides a novel method to describe the force property of the articulated mechanism driven by muscle actuator and a transmission.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>A musculoskeletal system consists of multiple bodies connected together with rotational joints and driven by mono\u2010 and bi\u2010articular actuators. The paper analyzes properties of the musculoskeletal system with statically calculated omni\u2010directional output forces. A set of experiments has been performed to demonstrate the physical ability of the musculoskeletal robot.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>A method to design a musculoskeletal system is proposed based on an analysis of the profile of convex polygon of maximum output forces. The result shows that the well\u2010designed musculoskeletal system enables the legged robot to jump 0.6\u2009m high and land softly from 1.0\u2009m drop off.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The paper provides a design principle for a musculoskeletal robot. The musculoskeletal system is the bio\u2010inspired mechanism for all multi\u2010degrees\u2010of\u2010freedom articulated devices, and has the advantages of optimized actuator configuration and force control.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911011037640","type":"journal-article","created":{"date-parts":[[2010,5,1]],"date-time":"2010-05-01T07:02:17Z","timestamp":1272697337000},"page":"250-255","source":"Crossref","is-referenced-by-count":43,"title":["Design principle based on maximum output force profile for a musculoskeletal robot"],"prefix":"10.1108","volume":"37","author":[{"given":"Ryuma","family":"Niiyama","sequence":"first","affiliation":[]},{"given":"Yasuo","family":"Kuniyoshi","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022031420000447900_b1","doi-asserted-by":"crossref","unstructured":"Alexander, R.M. (2002), \u201cTendon elasticity and muscle function\u201d, Comparative Biochemistry and Physiology. 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