Experimental study demonstrates a unified 3D-printing framework for biomimetic compliant joints and actuators, indicating scalable fabrication for whole-body musculoskeletal robots.
Key Points
To establish a unified parametric design and flexible 3D-printing framework that fabricates compliant musculoskeletal components from a single material.
Integrated parametric design with flexible 3D printing using a single thermoplastic polyurethane (TPU) material to fabricate muscle-, tendon-, ligament-, and cushioning-like components.
Modulated mechanical properties across robotic components by adjusting geometric pattern parameters, including lattice density and branch thickness.
Constructed a life-scale multijoint robotic leg featuring ligament-based joint constraints and tendon-driven actuation, evaluated under external suspension.
Achieved continuous, coordinated multijoint leg motions at life scale under external suspension with partial body-weight support.
Constrained torso roll, pitch, and yaw each within a range of −20° to +20° during dynamic movement using integrated flexible structures.