86 * IEEE ROBOTICS & AUTOMATION MAGAZINE * SEPTEMBER 2020 Hand Forearm Joint Attachment Muscle Attachment Scapula (a) (b) 4× Miniature Bone-Muscle Module Joint Module Bone Frame Sensor-Driver Integrated Muscle Module Collarbone Joint Module Humerus 10× Generic Bone Frame tor Tension Measurement Unit tua c Muscle Wire (Dyneema) A le sc Muscle Module u M Muscle Relay ver am Co Soft Fo Unit NEU Musculoskeletal Structure Muscle Wire Grommet-NEU Pulley (e) (d) Tension Measurement Unit Thermal Sensor Motor Motor Driver Cover 3 × Axis Parts Versatility of Muscle Arrangement 2 × Center Parts (c) Rearrangeable Parts Joint Module Grouping Grommet Simplified Human DoF Configuration Modularized Components Figure 2. The overview of the developed musculoskeletal humanoid Musashi: the (a) basic musculoskeletal structure [9], (b) modularized structure of the left arm [9], (c) rearrangeable concept of joint modules [9], (d) detailed structure of muscle module (left figure) and versatility of muscle arrangement (right figure) [17], and (e) the NEU [9]. DoF: degrees of freedom. Musashi