Abstract
This paper focuses on a sensory-motor control mechanism in human reaching movements from the perspective of robotics. By formulating a musculo-skeletal redundant system which takes into account a nonlinear muscle property and performing numerical simulations, we suggest that the human-like reaching movements can be realized by using only simple task-space feedback scheme together with the internal force effect coming from nonlinear property of muscles without any complex mathematical computation such as an inverse dynamics or some optimal trajectory derivation. Firstly, we introduce both kinematics and dynamics of a three-link serial manipulator with six monoarticular muscles and three biarticular muscles model whose movements are limited within a horizontal plane. Secondly, the nonlinear muscle property coming from a physiological study based on Hill's muscle model, is taken into consideration. This nonlinearity makes it possible to modulate the damping effect in joint-space by considering the internal force generated by the redundant muscles. By utilizing this feature, the end-point converges to the desired point using only simple task-space feedback control scheme, even thought the system owns both the joint and muscle redundancies. Finally, we illustrate numerical simulations to show the effectiveness of the control scheme, and suggest one of the direction to study brain-motor control mechanism of human movements.
| Original language | English |
|---|---|
| Title of host publication | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 |
| Pages | 1402-1409 |
| Number of pages | 8 |
| DOIs | |
| Publication status | Published - Dec 1 2006 |
| Externally published | Yes |
| Event | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: Oct 9 2006 → Oct 15 2006 |
Publication series
| Name | IEEE International Conference on Intelligent Robots and Systems |
|---|
Other
| Other | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 |
|---|---|
| Country | China |
| City | Beijing |
| Period | 10/9/06 → 10/15/06 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Cite this
On control mechanism of human-like reaching movements with musculo-skeletal redundancy. / Tahara, Kenji; Luo, Zhi Wei; Arimoto, Suguru.
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 1402-1409 4058568 (IEEE International Conference on Intelligent Robots and Systems).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - On control mechanism of human-like reaching movements with musculo-skeletal redundancy
AU - Tahara, Kenji
AU - Luo, Zhi Wei
AU - Arimoto, Suguru
PY - 2006/12/1
Y1 - 2006/12/1
N2 - This paper focuses on a sensory-motor control mechanism in human reaching movements from the perspective of robotics. By formulating a musculo-skeletal redundant system which takes into account a nonlinear muscle property and performing numerical simulations, we suggest that the human-like reaching movements can be realized by using only simple task-space feedback scheme together with the internal force effect coming from nonlinear property of muscles without any complex mathematical computation such as an inverse dynamics or some optimal trajectory derivation. Firstly, we introduce both kinematics and dynamics of a three-link serial manipulator with six monoarticular muscles and three biarticular muscles model whose movements are limited within a horizontal plane. Secondly, the nonlinear muscle property coming from a physiological study based on Hill's muscle model, is taken into consideration. This nonlinearity makes it possible to modulate the damping effect in joint-space by considering the internal force generated by the redundant muscles. By utilizing this feature, the end-point converges to the desired point using only simple task-space feedback control scheme, even thought the system owns both the joint and muscle redundancies. Finally, we illustrate numerical simulations to show the effectiveness of the control scheme, and suggest one of the direction to study brain-motor control mechanism of human movements.
AB - This paper focuses on a sensory-motor control mechanism in human reaching movements from the perspective of robotics. By formulating a musculo-skeletal redundant system which takes into account a nonlinear muscle property and performing numerical simulations, we suggest that the human-like reaching movements can be realized by using only simple task-space feedback scheme together with the internal force effect coming from nonlinear property of muscles without any complex mathematical computation such as an inverse dynamics or some optimal trajectory derivation. Firstly, we introduce both kinematics and dynamics of a three-link serial manipulator with six monoarticular muscles and three biarticular muscles model whose movements are limited within a horizontal plane. Secondly, the nonlinear muscle property coming from a physiological study based on Hill's muscle model, is taken into consideration. This nonlinearity makes it possible to modulate the damping effect in joint-space by considering the internal force generated by the redundant muscles. By utilizing this feature, the end-point converges to the desired point using only simple task-space feedback control scheme, even thought the system owns both the joint and muscle redundancies. Finally, we illustrate numerical simulations to show the effectiveness of the control scheme, and suggest one of the direction to study brain-motor control mechanism of human movements.
UR - http://www.scopus.com/inward/record.url?scp=34250664203&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250664203&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.281931
DO - 10.1109/IROS.2006.281931
M3 - Conference contribution
AN - SCOPUS:34250664203
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1402
EP - 1409
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
ER -