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In particular, the offset of the elbow joint affects the range of motion in flexion and extension of the elbow; it decreases the range of motion for extension but increases it for flexion. Similarly, the curvature of the ulna and radius affects the range of motion in forearm pronation and supination and decreases the range of motion for supination while increasing it for pronation. The prototype was able to perform the basic movements of elbow flexion and extension, as well as forearm pronation and supination; however, the pronation and supination movements were not smooth. Based on these findings, it can be concluded that incorporating human anatomical structures is sufficiently effective in enhancing the functionality of robot arms.<\/jats:p>","DOI":"10.20965\/jaciii.2026.p0589","type":"journal-article","created":{"date-parts":[[2026,3,19]],"date-time":"2026-03-19T15:02:06Z","timestamp":1773932526000},"page":"589-600","source":"Crossref","is-referenced-by-count":0,"title":["Design of a Robot Arm Based on Human Structure for Humanoid Robots"],"prefix":"10.20965","volume":"30","author":[{"given":"Keita","family":"Kobayashi","sequence":"first","affiliation":[{"name":"Sustainable Engineering Program, Graduate School of Engineering, Tokyo University of Technology, 1404-1 Katakuramachi, Hachioji, Tokyo 192-0982, Japan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7984-9194","authenticated-orcid":true,"given":"Akinori","family":"Sekiguchi","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Tokyo University of Technology, 1404-1 Katakuramachi, Hachioji, Tokyo 192-0982, Japan"}]}],"member":"8550","published-online":{"date-parts":[[2026,3,20]]},"reference":[{"key":"key-10.20965\/jaciii.2026.p0589-1","unstructured":"Ministry of Land, Infrastructure, Transport and Tourism (MLIT), \u201cRegarding the recent situation surrounding the construction industry,\u201d (in Japanese). https:\/\/www.mlit.go.jp\/policy\/shingikai\/content\/001428484.pdf [Accessed December 18, 2023]"},{"key":"key-10.20965\/jaciii.2026.p0589-2","doi-asserted-by":"crossref","unstructured":"I. 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Mechatron., Vol.32, No.2, pp. 445-458, 2020. https:\/\/doi.org\/10.20965\/jrm.2020.p0445","DOI":"10.20965\/jrm.2020.p0445"},{"key":"key-10.20965\/jaciii.2026.p0589-7","doi-asserted-by":"crossref","unstructured":"Y. Asano, T. Kozuki, S. Ookubo, M. Kawamura, S. Nakashima, T. Katayama, I. Yanokura, T. Hirose, K. Kawaharazuka, S. Makino, Y. Kakiuchi, K. Okada, and M. Inaba, \u201cHuman Mimetic Musculoskeletal Humanoid Kengoro toward Real World Physically Interactive Actions,\u201d Int. Conf. on Humanoid Robots (Humanoids), pp. 876-883, 2016. https:\/\/doi.org\/10.1109\/HUMANOIDS.2016.7803376","DOI":"10.1109\/HUMANOIDS.2016.7803376"},{"key":"key-10.20965\/jaciii.2026.p0589-8","doi-asserted-by":"crossref","unstructured":"M. Raibert, K. Blankespoor, G. Nelson, R. Playter, and the BigDog Team, \u201cBigDog, the Rough-Terrain Quadruped Robot,\u201d Proc. of the 17th World Congress: The Int. 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