Antagonistic muscle-driven system

The human makes flexible motions using dexterous control of muscles that are antagonistically arranged around joints. The robot hand is an antagonistic muscle-driven system (Fig. 10.2) that simplifies the musculoskeletal system, which moves joints using several muscles. Motion around a joint is made using the difference in pressure supplied to each actuator in the system. In addition, the robot hand realizes the more similar structure inspired by a musculoskeletal system because it has polyarticular muscles that make several joints move at the same time. 

Figure 10.2 Antagonistic muscle-driven system. Pi and P2 denote pressure.

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See also in sourсe #XX -- [ ]

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