Flexible Shoulder in Quadruped Animals and Robots Guiding Science of Soft Robotics

Akira Fukuhara, Megu Gunji, Yoichi Masuda, Kenjiro Tadakuma, Akio Ishiguro

Research output: Contribution to journalLetterpeer-review

2 Citations (Scopus)


Cursorial quadrupeds have different connections to the trunk for forelimbs and hindlimbs: a flexible connection through the muscles to the forelimb, and a secure connection through the hip joint to the hindlimb. Although anatomical and biological studies have described the structure and behavior of cur-sorial quadrupeds by focusing on flexible shoulders, the functionality of the flexible shoulder remains un-clear. In this study, we first survey the anatomical and biological studies. Second, we introduce our robotics studies, which focus on flexible connections for proxi-mal limb joints. Further, we discuss future directions for extracting a design principle based on complex animal body structures, and we suggest the potential for interdisciplinary research between anatomy and soft robotics.

Original languageEnglish
Pages (from-to)304-309
Number of pages6
JournalJournal of Robotics and Mechatronics
Issue number2
Publication statusPublished - 2022 Apr


  • anatomy
  • muscle sling
  • quadruped robot
  • soft robotics

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering


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