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Nervous regions such as the cerebellum facilitate learning, adaptation, and coordination of our motor responses, ultimately driven by muscle activation. Muscles, in turn, self-stabilize motion through mechanical viscoelasticity. In addition, the agonist-antagonist arrangement of muscles surrounding joints enables cocontraction, which can be regulated to enhance motion accuracy and adapt joint stiffness, thereby providing impedance modulation and broadening the motor repertoire. Here, we propose a control solution that harnesses neuromechanics to enable adjustable robot motor behavior. Our solution integrates a muscle model that replicates mechanical viscoelasticity and cocontraction together with a cerebellar network providing motor adaptation. The resulting cerebello-muscular controller drives the robot through torque commands in a feedback control loop. Changes in cocontraction modify the muscle dynamics, and the cerebellum provides motor adaptation without relying on prior analytical solutions, driving the robot in different motor tasks, including payload perturbations and operation across unknown terrains. Experimental results show that cocontraction modulates robot stiffness, performance accuracy, and robustness against external perturbations. Through cocontraction modulation, our cerebello-muscular torque controller enables a broad spectrum of robot motor behavior.<\/jats:p>","DOI":"10.1126\/scirobotics.adp2356","type":"journal-article","created":{"date-parts":[[2025,1,22]],"date-time":"2025-01-22T18:58:12Z","timestamp":1737572292000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":11,"title":["A neuromechanics solution for adjustable robot compliance and accuracy"],"prefix":"10.1126","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1365-1526","authenticated-orcid":true,"given":"Ignacio","family":"Abad\u00eda","sequence":"first","affiliation":[{"name":"Research Center for Information and Communication Technologies, Department of Computer Engineering, Automation and Robotics, University of Granada, Granada, Spain."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5467-2852","authenticated-orcid":true,"given":"Alice","family":"Bruel","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5744-4142","authenticated-orcid":true,"given":"Gr\u00e9goire","family":"Courtine","sequence":"additional","affiliation":[{"name":"NeuroX Institute and .NeuroRestore, EPFL\/CHUV\/UNIL, Lausanne, Switzerland."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1417-9980","authenticated-orcid":true,"given":"Auke J.","family":"Ijspeert","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6613-5256","authenticated-orcid":true,"given":"Eduardo","family":"Ros","sequence":"additional","affiliation":[{"name":"Research Center for Information and Communication Technologies, Department of Computer Engineering, Automation and Robotics, University of Granada, Granada, Spain."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0626-5048","authenticated-orcid":true,"given":"Niceto R.","family":"Luque","sequence":"additional","affiliation":[{"name":"Research Center for Information and Communication Technologies, Department of Computer Engineering, Automation and Robotics, University of Granada, Granada, Spain."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar7650"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adk6743"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3075365"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1145803"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2014.07.058"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adc8892"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau0307"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abk2948"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2019.2945498"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abf2756"},{"key":"e_1_3_2_12_2","doi-asserted-by":"crossref","unstructured":"R. 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