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Design and Control of a Biologically Inspired Shoulder Joint
In the field of human-centered robotics, we need flexible, robust, agile robots that have the natural human like mechanisms in place. In order to achieve these robots, human motor systems must be analyzed and abstracted, from the mechanical level, to the behavioral and cognitive level. In this paper we will present the abstracted human shoulder joint, seen as a modified Stuart platform, with a platform supported on a pivot and driven by four actuating motors. The elements of resistance imitate the shoulder blade and the humerus, and those of drive and control of the movements represent the four main muscles of the shoulder. They have the shape close to the natural shape of the human bones, and the elements of drive and control, which take over the functions of the muscles, have the location and the points of connection with the elements of resistance similar to the natural connections between bones and muscles. The connections between the natural muscles and the bones are made using the tendons. These flexible links, coupled with the open shape of the shoulder joint, drive the humerus in a 360 degree rotational motion. To allow a "left-up-right-down-left" circular motion, we introduced the "tendon" that has a cardan coupling, on the side of the "muscles" and a sphere on the side of Humerus.