Biomimetic Approaches for Human Arm Motion Generation: Literature Review and Future Directions

Abstract

In recent years, numerous studies have been conducted to analyze how humans subconsciously optimize various performance criteria while performing a particular task, which has led to the development of robots that are capable of performing tasks with a similar level of efficiency as humans. The complexity of the human body has led researchers to create a framework for robot motion planning to recreate those motions in robotic systems using various redundancy resolution methods. This study conducts a thorough analysis of the relevant literature to provide a detailed exploration of the different redundancy resolution methodologies used in motion generation for mimicking human motion. The studies are investigated and categorized according to the study methodology and various redundancy resolution methods. An examination of the literature revealed a strong trend toward formulating intrinsic strategies that govern human movement through machine learning and artificial intelligence. Subsequently, the paper critically evaluates the existing approaches and highlights their limitations. It also identifies the potential research areas that hold promise for future investigations.

Bibliometric analysis and visualization of research and development trends in humanoid robotics

“…This paper introduces the research progress of robotic arms for humanoid robots, first consider musculoskeletal robots, but the modeling of skeleton is challenging, the number of bone joints, stiffness will affect the final performance, in addition to this also have to consider the rotational degrees of freedom, increase the rotational angle of the key nodes weight, reduce the weight of the optional nodes, the increase in the number of skeleton is not very friendly to the muscles attached to it, the high degree of freedom does can improve the range of motion and ability, but the algorithmic requirements are multiplied [87]. The current research on humanoid robots is more about the foot, and the research on the upper limb is not sufficient, because the research on the upper limb is generally based on the stabilization of the lower limb, however, the swing of the upper limb will inevitably affect the stabilization of the lower part of the body.…”

CARRT—Motion Capture Data for Robotic Human Upper Body Model

“…This dependence on motion capture remains consistent regardless of the scope, field, or application being considered. However, the limited accessibility to large, adaptable datasets of high quality, negatively impacts the overall extent of research in this area [9]. An approximate human kinematic model is crucial to conduct a comprehensive kinematic analysis.…”

Design of Low-Cost Modular Bio-Inspired Electric–Pneumatic Actuator (EPA)-Driven Legged Robots

“…Developing bio-inspired robots offers a promising approach to addressing these issues by creating systems that mimic the structural, functional, and control aspects of human motor systems. Studies in this field aim to develop robots and software platforms that can replicate human movements within human-centric environments, leveraging advances in modeling and simulation to assess and control aspects such as fatigue outside of clinical settings [ 6 , 7 ] or to mimic mechanical behavior and motor control [ 8 ]. Therefore, it has become crucial to develop cost-effective, accessible, and modular test platforms with sufficient degrees of freedom (DoFs) both in mechanics and actuation for robotic and biomechanics research in locomotion.…”