Stiffness control of leg mechanism imitating the motion control of human musculoskeletal system

In this paper, we describe a leg mechanism that uses an embedded servomotor as an artificial muscle to model the human musculoskeletal system, and subsequently evaluate the biomechanics of the developed model. The leg mechanism model exhibited stiffness and motion control characteristics similar to theoretical properties, and the resultant stiffness characteristics were applied to accomplish both a contact task and positional control similar to human movement. Particular attention was paid to the motion stiffness characteristics from the perspective of biomechanics, and the results are expected to improve motion performance in future studies of robotic simulation of human movement.