Jump mechanism using coordination function of Bi-articular muscle in knee and ankle joint

The effectiveness of jump model by mono-articular muscle and bi-articular muscle which imitated the human muscle arrangement was examined by the comparison of next three models. Models are (1) the serial link model in which two actuators of knee joint and ankle joint are independent, (2) the pantograph model in which two actuators receive the restraint by the biarticular muscle and (3) pantograph model which placed the actuator only in the knee joint. The effectiveness of jump model was theoretically verified from the static ground reaction force before the jump. The pantograph model (3) can jump only at the torque of extension muscle of the knee joint. In addition, the jump mechanism was produced experimentally, and the effectiveness of the model was verified. This conclusion is one of a solution to the general question too. "Why cruris of the animal which makes jump and high speed running good are very thinner than the femoral region".