Bio-inspired skeletal model and kinematics of humanoid spine and ribs

Development of humanoids with human like range of motion for spine and torso is of great research interest. Present article covers the construction of the humanoid spine and ribs by considering spine as a hyper redundant mechanism with ribs attached in the thoracic region. To demonstrate the joints...

Full description

Saved in:
Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2024-01, Vol.238 (1), p.94-107
Main Authors: Nidhi, Noble, Sam, Sooraj, VS
Format: Article
Language:English
Subjects:
Bending
Biomechanics
Biomimetics
Cables
Curvature
Human motion
Humanoid
Kinematics
Range of motion
Ribs
Simulation
Three dimensional models
Torso
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Development of humanoids with human like range of motion for spine and torso is of great research interest. Present article covers the construction of the humanoid spine and ribs by considering spine as a hyper redundant mechanism with ribs attached in the thoracic region. To demonstrate the joints and motion characteristics, a thorough discussion of the biomechanical aspects of the spine is provided. A three-segment hyper redundant mechanism is utilised to imitate the human mimetic spine. The study considers flexion-extension and lateral bending motions of the spine. In the proposed formulation, a piecewise constant curvature approximation could simulate spine motion during flexion-extension movement. A simplified configuration with each section of spine controlled by two cables for flexion-extension and two cables for lateral bending is adopted. Additionally, a three dimensional CAD model of proposed system is developed and simulated using ADAMS. The constant curvature model and ADAMS simulation results closely match the human range of motion.
ISSN:0954-4062
2041-2983
DOI:10.1177/09544062231166813