A humanoid neck system featuring low motion-noise

Bingtuan Gao, Jing Xu, Jianguo Zhao, Ning Xi, Yantao Shen, Ruiguo Yang

Research output: Contribution to journalArticlepeer-review

14 Scopus citations


This paper presents our recently developed humanoid neck system that can effectively mimic motion of human neck with very low motion noises. The feature of low motion noises allows our system to work like a real human neck. Thus the level of acoustic noises from wearable equipments, such as donning respirators or chemical-resistant jackets, induced by human head motion can be simulated and investigated using such a system. Our low motion-noise hu-manoid head/neck system is based on the spring structure, which can generate 1 degree of freedom (DOF) jaw movement and 3DOF neck movement. To guarantee the low-noise feature, no noise-makers like gear and electro-driven parts are embedded in the head/neck structure. Instead, the motion is driven by seven polyester cables, and the actuators pulling the cables are sealed in a sound insulation box. Furthermore, statics analysis and motion control design of the system have been presented. Experimental results clearly show that the head/neck system can greatly mimic the motion of human head with an A-weighted noise level of 30 dB or below.

Original languageEnglish (US)
Pages (from-to)101-116
Number of pages16
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number2
StatePublished - Jul 2012
Externally publishedYes


  • Cable-driven mechanism
  • Humanoid neck
  • Lateral bending
  • Motion-noise reduction

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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