University of Tokyo 3D-prints life-size musculoskeletal humanoid legs from single TPU material
IanPritchard · x · 2026-11-04
A new paper in Advanced Intelligent Systems by Yoshimura et al. at the University of Tokyo combines parametric design with flexible 3D printing to fabricate muscle-, tendon-, ligament- and cushioning-inspired compliant components in a unified process using a single TPU material.
- Tuning pattern parameters like lattice density and branch thickness tailors mechanical properties across body regions
- Ligament-based joint constraints plus integrated tendon-driven actuation enable continuous multi-joint leg motion at life scale under external suspension, with torso roll/pitch/yaw constrained to ±20° and partial body-weight support
- Results validate patterned flexible structures as a practical framework for musculoskeletal robots, streamlining design-to-fabrication and enabling scalable biomimetic systems with extensions toward whole-body humanoids and embedded sensing
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