In a musculoskeletal structure, the internal force among muscles plays an important role. Changing the internal force enables to control not only joint angles but also impedance, so that vertebrate animals can produce a motion according to a situation. Focusing on a musculoskeletal system with two links and six muscles, this paper investigate the effect of biarticular muscles when feedforward position control is inputted. This control gives the constant internal force balancing at desired posture as feedforward input, based on the EP hypothesis in physiology. From the result, we point out that the biarticular muscles can reduce the convergent time of the motion, and they also can stabilize the system.

A broadband network architecture is proposed that integrates multimedia services, such as data, video, and telephony information, using 52-Mb/s based STM-paths at the user network interface (UNI). The user can access any new service via the STM-based access network via either synchronous transfer mode (STM) switching or asynchronous transfer mode (ATM) switching. STM circuit switching supports long duration, constant bandwidth data transfer services such as video and high-definition television (HDTV) distribution and will also be used for the crossconnect system. Circuit switching can provide transparent transmission during long connection periods. This paper also proposes an expandable time-division switch architecture, an expandable time-division switching LSI, and an expandable switching module for small to large size system applications. The proposed time-division switching LSI, module, and system handle 52-Mb/s bearer signals and have throughputs of 2.4 Gb/s, 10 Gb/s, and 40 Gb/s, respectively. The time-division switch realizes video distribution with 1:n connections. Finally, a local switching node that features an expandable 52-Mb/s time-division circuit switching network is shown for multimedia access networking.

A gigabit-rate five highway interface GaAs optoelectronic LSI chipset has been fabricated for the 0.85 mu m wavelength range optical interconnections between modules or VLSIs. The optical sender consists of a high-speed laser driver array LSI having 2 Gb/s maximum operation speed and a tiny laser array. The optical receiver in a GsAs high-speed optical receiver array LSI with a monolithically integrated metal-semiconductor-metal (MSM) photodetector, a high-speed preamplifier, and a decision circuit that has a maximum operation speed of 1.8 Gb/s. The receiver LSI is provided with a new bit-synchronizing circuit and an automatic threshold determination circuit. >

An expandable space-division (SD) switch architecture and a bipolar circuit design for gigabit-per-second crosspoint-switch LSIs are described. An expandable 2-Gb/s 16*16 crosspoint switch LSI which employs a novel switch structure, a novel circuit design, and a super self-aligned process (SST-1A) is developed. A switching module and partial 1:n nonblock, full 1:1 nonblock switching network architecture are also presented. Using the LSI and the switching network architecture, an experimental 620-Mb/s network system is demonstrated.>