Fig. 1 Basic design concept of human mimetic humanoid. Human mimetic humanoids were designed on the basis of the mechanisms in the human body, in contrast to conventional humanoids designed based on the theory of engineering. In the design of a human mimetic humanoid, the same body proportions and musculoskeletal structures as those of an average human were used as design specifications.
- Table 1 Link length comparison between Kenshiro, Kengoro, and an average human.
The body segments of each are indicated for comparison purposes. Human anthropometry data were obtained from (47) based on (48). The human length proportions were calculated, assuming the same body height as Kenshiro and Kengoro. The proportional values for r-u were not provided, whereas those of Kenshiro and Kengoro are described in the referenced information. Dash entries indicate excluded data.
Sign Part Length (mm) Length (mm) Human Kenshiro* Ratio (%) Human Kengoro* Ratio (%) a Body height 1600 1600 100 1670 1670 100 b Eye height 1500 1470 98.5 1560 1540 98.8 c Head 208 227 109 217 237 109 d Shoulder height 1310 1270 97.3 1370 1310 95.8 e Shoulder width 414 372 89.9 432 395 91.4 f Chest height 1150 1130 98.6 1200 1140 94.6 g Chest width 278 306 110 291 328 113 h Trunk with head 831 897 108 868 901 104 i Upper arm 297 270 90.9 311 270 86.9 j Forearm 233 236 101 244 292 120 k Hand 173 –† – 180 161 89.4 l Hip width(trochanter) 305 309 101 319 293 91.8 m Thigh 391 348 89.0 409 384 93.8 n Shank 393 343 87.4 411 348 84.7 o Foot 62.3 74.3 119 65.1 79.2 122 p Foot width 87.9 90.0 102 91.8 90.1 99.0 q Foot length 243 260 107 254 241 94.9 r Upper body total – 682 – – 745 – s Lower body total – 915 – – 924 – t Chest thickness – 211 – – 203 – u Hip width (joint) – 168 – – 151 – Average(b–q) 101 Average(b–q) 99.3 * The distances between the parts were measured on geometrical 3D models.
† The hand was excluded from the list because Kenshiro does not have hands.
- Table 2 Link weight comparison between Kenshiro, Kengoro, and an average human.
The human data used in this comparison were reported in (49) based on the data of (27) and (50). Each human link weight was calculated assuming the same body weight as Kenshiro and Kengoro.
Name Ratio of segment weight (%) Weight (kg) Weight (kg) Human Kenshiro Ratio (%) Human Kengoro Ratio (%) Body weight 100 51.9 51.9 100 56.5 56.5 100 Head* 8.0 4.15 3.10 74.7 4.52 2.6 57.5 Trunk† 50.0 26.0 26.3 102 28.3 26.0 91.9 Upper trunk‡ – – 18.4 – – 17.3 – Pelvis – – 7.98 – – 8.64 – Upper arm 2.70 1.40 1.95 139 1.53 2.19 144 Forearm 1.60 0.830 1.16 140 0.904 1.54 170 Hand 0.70 0.363 –§ – 0.396 0.3 75.9 Thigh 10.1 5.24 4.0 76.3 5.71 5.07 88.8 Shank 4.4 2.28 3.05 134 2.49 3.53 142 Foot 1.5 0.779 1.07 137 0.85 1.34 158 Average 115 Average 116 *The heads of Kenshiro and Kengoro include their necks.
†Trunk includes upper trunk and pelvis.
‡Upper trunk includes spine, chest, and shoulder blade.
§Kenshiro does not possess a hand.
- Table 3 Muscle fidelity evaluation.
The number of muscles was counted based on the muscle names corresponding to those of the human. The numbers of muscles in the musculoskeletal robots developed by (12, 51, 52) are described in the comparison.
Number of muscles/Ratio to human Human Athlete robot* Pneumat-BS Anthrob† Kenshiro Kengoro Spine 34 – 2 – 10 10 Ratio (%) 100 – 5.88 – 29.4 29.4 Arm (without hand) 37 – 3 9 10 19 Ratio (%) 100 – 8.10 24.3 27.0 51.4 Leg (without foot) 42 7 16 – 21 24 Ratio (%) 100 16.7 38.0 – 50.0 57.1 Whole body
(without hand and foot)106 – 22 – 40 52 Ratio (%) 100 – 20.8 – 37.7 49.1 Whole body (with hand and foot) 133 – 22 – 40 53 Ratio (%) 100 – 16.5 – 30.1 39.1 *Legged robot
†One-armed robot
Supplementary Materials
robotics.sciencemag.org/cgi/content/full/2/13/eaaq0899/DC1
movie S1. Movements of Kengoro.
movie S2. Motion comparison between Kenshiro and Kengoro.
Additional Files
Supplementary Materials
Supplementary Material for:Design principles of a human mimetic humanoid: Humanoid platform to study human intelligence and internal body system
Yuki Asano,* Kei Okada, Masayuki Inaba
*Corresponding author. Email: asano{at}jsk.imi.i.u-tokyo.ac.jp
Published 20 December, Sci. Robot. 2, eaaq0899 (2017)
DOI: 10.1126/scirobotics.aaq0899This PDF file includes:
Other Supplementary Material for this manuscript includes the following:
Files in this Data Supplement:
