# Assessment of the Suitability of Selected Linear Actuators for the Implementation of the Load-Adaptive Biological Principle of Redundant Motion Generation

## TL;DR

This paper explores how linear actuators, especially ropes, can mimic the energy-efficient behavior of human muscles in technical systems like robotics.

## Contribution

The study evaluates and compares linear actuators for their ability to replicate load-adaptive biological muscle behavior, identifying ropes as a promising solution.

## Key findings

- Ropes are currently the most suitable linear actuators for mimicking load-adaptive biological muscle behavior.
- Ropes show good mechanical and control behavior, making them advantageous for adaptive systems.
- Future research should focus on how ropes can be applied in technical systems to achieve lightweight, energy-efficient designs.

## Abstract

The load-adaptive behavior of the muscles in the human musculoskeletal system offers great potential for minimizing resource and energy requirements in many technical systems, especially in drive technology and robotics. However, the lack of knowledge about suitable technical linear actuators that can reproduce the load-adaptive behavior of biological muscles in technology is a major reason for the lack of successful implementation of this biological principle. In this paper, therefore, the different types of linear actuators are investigated. The focus is particularly on artificial muscles and rope pulls. The study is based on literature, on the one hand, and on two physical demonstrators in the form of articulated robots, on the other hand. The studies show that ropes are currently the best way to imitate the load-adaptive behavior of the biological model in technology. This is especially illustrated in the context of this paper by the discussion of different advantages and disadvantages of the technical linear actuators, where ropes, among other things, have a good mechanical and control behavior, which is very advantageous for use in an adaptive system. Finally, the next steps for future research are outlined to conclude how ropes can be used as linear actuators to transfer load-adaptive lightweight design into technical applications.