Antagonism for a highly anthropomorphic hand-arm system

A novel approach to antagonism in robotic systems is introduced and investigated as the basis for an unequalled, highly anthropomorphic hand-arm system currently being developed. This hand-arm system, consisting of a 19-d.o.f. hand and a 7-d.o.f. flexible arm, will be based on antagonistic principles in order to study and mimic the human musculoskeletal system, as well as to advance safety in robotics. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008.