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Mechanical laws of motion were applied very early for better
understanding anthropomorphic action as suggested in advance by
Newton "For from hence are easily deduced the forces of machines,
which are compounded of wheels, pullies, levers, cords, and
weights, ascending directly or obliquely, and other mechanical
powers; as also the force of the tendons to move the bones of
animals". In the 19th century E.J. Marey and E. Muybridge
introduced chronophotography to scientifically investigate animal
and human movements. They opened the field of motion analysis by
being the first scientists to correlate ground reaction forces with
kinetics. Despite of the apparent simplicity of a given skilled
movement, the organization of the underlying neuro-musculo-skeletal
system remains unknown. A reason is the redundancy of the motor
system: a given action can be realized by different muscle and
joint activity patterns, and the same underlying activity may give
rise to several movements. After the pioneering work of N.
Bernstein in the 60's on the existence of motor synergies, numerous
researchers "walking on the border" of their disciplines tend to
discover laws and principles underlying the human motions and how
the brain reduces the redundancy of the system. These synergies
represent the fundamental building blocks composing complex
movements. In robotics, researchers face the same redundancy and
complexity challenges as the researchers in life sciences. This
book gathers works of roboticists and researchers in biomechanics
in order to promote an interdisciplinary research on
anthropomorphic systems at large and on humanoid robotics in
particular.
Mechanical laws of motion were applied very early for better
understanding anthropomorphic action as suggested in advance by
Newton "For from hence are easily deduced the forces of machines,
which are compounded of wheels, pullies, levers, cords, and
weights, ascending directly or obliquely, and other mechanical
powers; as also the force of the tendons to move the bones of
animals". In the 19th century E.J. Marey and E. Muybridge
introduced chronophotography to scientifically investigate animal
and human movements. They opened the field of motion analysis by
being the first scientists to correlate ground reaction forces with
kinetics. Despite of the apparent simplicity of a given skilled
movement, the organization of the underlying neuro-musculo-skeletal
system remains unknown. A reason is the redundancy of the motor
system: a given action can be realized by different muscle and
joint activity patterns, and the same underlying activity may give
rise to several movements. After the pioneering work of N.
Bernstein in the 60's on the existence of motor synergies, numerous
researchers "walking on the border" of their disciplines tend to
discover laws and principles underlying the human motions and how
the brain reduces the redundancy of the system. These synergies
represent the fundamental building blocks composing complex
movements. In robotics, researchers face the same redundancy and
complexity challenges as the researchers in life sciences. This
book gathers works of roboticists and researchers in biomechanics
in order to promote an interdisciplinary research on
anthropomorphic systems at large and on humanoid robotics in
particular.
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