Journal of Intelligent & Robotic Systems

, Volume 67, Issue 2, pp 101–116 | Cite as

A Humanoid Neck System Featuring Low Motion-Noise

  • Bingtuan GaoEmail author
  • Jing Xu
  • Jianguo Zhao
  • Ning Xi
  • Yantao Shen
  • Ruiguo Yang


This paper presents our recently developed humanoid neck system that can effectively mimic motion of human neck with very low motion noises. The features of low motion noises allows our system to work like a real human neck. Thus the level of acoustic noises from wearable equipments, such as donning respirators or chemical-resistant jackets, induced by human head motion can be simulated and investigated using such a system. Our low motion-noise humanoid head/neck system is based on the spring structure, which can generate 1 degree of freedom (DOF) jaw movement and 3DOF neck movement. To guarantee the low-noise feature, no noise-makers like gear and electro-driven parts are embedded in the head/neck structure. Instead, the motion is driven by seven polyester cables, and the actuators pulling the cables are sealed in a sound insulation box. Furthermore, statics analysis and motion control design of the system have been presented. Experimental results clearly show that the head/neck system can greatly mimic the motion of human head with an A-weighted noise level of 30 dB or below.


Humanoid neck Cable-driven mechanism Motion-noise reduction Lateral bending 


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Copyright information

© Springer Science+Business Media B.V. 2011

Authors and Affiliations

  • Bingtuan Gao
    • 1
    Email author
  • Jing Xu
    • 2
  • Jianguo Zhao
    • 3
  • Ning Xi
    • 3
  • Yantao Shen
    • 4
  • Ruiguo Yang
    • 3
  1. 1.School of Electrical EngineeringSoutheast UniversityNanjingChina
  2. 2.Department of Precision Instruments and MechanologyTsinghua UniversityBeijingPeople’s Republic of China
  3. 3.Department of Electrical and Computer EngineeringMichigan State UniversityEast LansingUSA
  4. 4.Department of Electrical and Biomedical EngineeringUniversity of Nevada at RenoRenoUSA

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