Muscles feature a large number of motor units (sarcomeres), distributed over parallel strands of muscle fibers. Only a selection of these motor units is recruited to generate the required muscle force. This mechanism has inspired researchers to introduce redundancy into engineered actuators. In this chapter, we discuss the potential of kinematically redundant actuation with regards to energy efficiency. The Dual-Motor Actuator is presented as a promising implementation.
|Title of host publication||Novel Bioinspired Actuator Designs for Robotics|
|Editors||Philipp Beckerle, Maziar Ahmad Sharbafi, Tom Verstraten, Peter P. Pott, André Seyfarth|
|Number of pages||6|
|Publication status||Published - 2021|
|Name||Studies in Computational Intelligence|