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The anthroform biorobotic arm: a system for the study of spinal circuits
B Hannaford1, J M Winters, C P Chou
1Department of Electrical Engineering, University of Washington, Seattle 98195, USA.
Annals of Biomedical Engineering
|July 1, 1995
Abstract:
This paper reports the design, construction, and testing of a replica of the human arm, which aims to be dynamically as well as kinematically accurate. The arm model is actuated with McKibben pneumatic artificial muscles, and controlled by a special purpose digital signal processing system designed to simulate spinal neural networks in real time. An artificial muscle spindle has also been designed and tested. Design and test data are reviewed, and the paper describes how we hope to use the system to improve our understanding of the reflexive control of human movement and posture.