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arXiv · 2502.12811

Applications of Stretch Reflex for the Upper Limb of Musculoskeletal Humanoids: Protective Behavior, Postural Stability, and Active Induction

Kento Kawaharazuka·Yuya Koga·Kei Tsuzuki·Moritaka Onitsuka·Yuki Asano·Kei Okada·Koji Kawasaki·Masayuki Inaba
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Abstract

The musculoskeletal humanoid has various biomimetic benefits, and it is important that we can embed and evaluate human reflexes in the actual robot. Although stretch reflex has been implemented in lower limbs of musculoskeletal humanoids, we apply it to the upper limb to discover its useful applications. We consider the implementation of stretch reflex in the actual robot, its active/passive applications, and the change in behavior according to the difference of parameters.

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Kento Kawaharazuka, Yuya Koga, Kei Tsuzuki, Moritaka Onitsuka, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba. 2025-02-18. Applications of Stretch Reflex for the Upper Limb of Musculoskeletal Humanoids: Protective Behavior, Postural Stability, and Active Induction. https://doi.org/10.1109/iros45743.2020.9341488

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