Basic study of biarticular muscle's effect on muscular internal force control based on physiological hypotheses

H. Kino; S. Kikuchi; T. Yahiro; Kenji Tahara

doi:10.1109/ROBOT.2009.5152196

Basic study of biarticular muscle's effect on muscular internal force control based on physiological hypotheses

H. Kino, S. Kikuchi, T. Yahiro, Kenji Tahara

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

18 Citations (Scopus)

Abstract

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 theyalso can stabilize the system.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages	4195-4200
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2009.5152196
Publication status	Published - 2009
Event	2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan Duration: May 12 2009 → May 17 2009

Other

Other	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Country/Territory	Japan
City	Kobe
Period	5/12/09 → 5/17/09

All Science Journal Classification (ASJC) codes

Software
Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/ROBOT.2009.5152196

Cite this

Kino, H, Kikuchi, S, Yahiro, T & Tahara, K 2009, Basic study of biarticular muscle's effect on muscular internal force control based on physiological hypotheses. in 2009 IEEE International Conference on Robotics and Automation, ICRA '09., 5152196, pp. 4195-4200, 2009 IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 5/12/09. https://doi.org/10.1109/ROBOT.2009.5152196

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abstract = "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 theyalso can stabilize the system.",

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doi = "10.1109/ROBOT.2009.5152196",

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AB - 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 theyalso can stabilize the system.

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Basic study of biarticular muscle's effect on muscular internal force control based on physiological hypotheses

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