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Soft Robots that Mimic the Neuromusculoskeletal System

Part of the Biosystems & Biorobotics book series (BIOSYSROB,volume 15)


In motor control studies, the question on which parameters human beings and animals control through their nervous system has been extensively explored and discussed, and several hypotheses proposed. It is widely acknowledged that useful inputs in this problem could be provided by developing artificial replication of the neuromusculoskeletal system, to experiment different motor control hypothesis. In this paper we present such device, which reproduces many of the characteristics of an agonistic-antagonistic muscular pair acting on a joint.


  • Equilibrium Position
  • Nonlinear Spring
  • External Torque
  • Threshold Length
  • Link Position

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  • DOI: 10.1007/978-3-319-46669-9_45
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Correspondence to Cosimo Della Santina .

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Garabini, M., Santina, C.D., Bianchi, M., Catalano, M., Grioli, G., Bicchi, A. (2017). Soft Robots that Mimic the Neuromusculoskeletal System. In: Ibáñez, J., González-Vargas, J., Azorín, J., Akay, M., Pons, J. (eds) Converging Clinical and Engineering Research on Neurorehabilitation II. Biosystems & Biorobotics, vol 15. Springer, Cham.

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