Tokyo University Researchers Print Human-Sized Robot Leg with TPU Muscles, Tendons, and Ligaments
肌肉、肌腱、韧带全靠打印，东京大学真人尺寸机器人腿在悬吊辅助下迈步了
In a new paper published in Advanced Intelligent Systems, Tokyo University researchers present a humanoid leg 0.95 meters tall constructed entirely from printed muscles, tendons, ligaments, and foot pads using TPU95A material via FDM printing. By adjusting lattice parameters, the team tuned tissue stiffness to mimic biological properties. While a single leg performed coordinated movements, a two-leg system demonstrated alternating stepping only under external suspension support, explicitly noting that balance control was intentionally decoupled to validate the joint constraints and tendon-driven actuation without full autonomy.
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
robot leg height
0.95
View original evidence
日前，东京大学的研究人员在《 Advanced Intelligent Systems 》上发了一篇新论文，换了个思路： 只用一种材料 TPU95A 、一台 FDM 打印机，把肌肉、肌腱、韧带和足底缓冲垫全部打印出来 ， 再拼成一条 0.95 米高、真人尺寸的机器人腿。
Open source S6print time for human-sized muscle
20–40 hours
View original evidence
软结构变形大，力臂和钢丝摩擦会动态变化，建模和控制都比较难；目前的参数设计主要依靠实测得到的经验映射，还没有通用的解析模型；打印一块真人尺寸的肌肉要 20–40 小时，机器时间偏长。
Open source S19
- paper: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
日前，东京大学的研究人员在《 Advanced Intelligent Systems 》上发了一篇新论文，换了个思路： 只用一种材料 TPU95A 、一台 FDM 打印机，把肌肉、肌腱、韧带和足底缓冲垫全部打印出来 ， 再拼成一条 0.95 米高、真人尺寸的机器人腿。
Open source S6
软结构变形大，力臂和钢丝摩擦会动态变化，建模和控制都比较难；目前的参数设计主要依靠实测得到的经验映射，还没有通用的解析模型；打印一块真人尺寸的肌肉要 20–40 小时，机器时间偏长。
Open source S19
往复运动 999 次之后， 髋关节屈曲 90° 时的扭矩保留了约 87% ，膝关节屈曲 135° 时约 79% ，踝关节背屈 30° 时约 94% ， 没有出现约束失效。
Open source S16
Source：RoboSpeak — WeChat · mp.weixin.qq.com