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This paper endeavours to bridge the existing gap in muscular actuator designfor ligament-skeletal-inspired robots, thereby fostering the evolution of theserobotic systems. We introduce two novel compliant actuators, namely theInternal Torsion Spring Compliant Actuator (ICA) and the External SpringCompliant Actuator (ECA), and present a comparative analysis against thepreviously conceived Magnet Integrated Soft Actuator (MISA) throughcomputational and experimental results. These actuators, employing amotor-tendon system, emulate biological muscle-like forms, enhancing artificialmuscle technology. A robotic arm application inspired by the skeletal ligamentsystem is presented. Experiments demonstrate satisfactory power in tasks likelifting dumbbells (peak power: 36W), playing table tennis (end-effector speed:3.2 m/s), and door opening, without compromising biomimetic aesthetics.Compared to other linear stiffness serial elastic actuators (SEAs), ECA and ICAexhibit high power-to-volume (361 x 10^3 W/m) and power-to-mass (111.6 W/kg)ratios respectively, endorsing the biomimetic design's promise in roboticdevelopment.

Compliant actuators that mimic biological muscle performance with applications in a highly biomimetic robotic arm