TY - JOUR
T1 - Optimal muscular arrangement using genetic algorithm for musculoskeletal potential method with muscle viscosity
AU - Kino, Hitoshi
AU - Ochi, Hiroaki
AU - Tahara, Kenji
N1 - Funding Information:
This work was supported by the JSPS KAKENHI Grant-in-Aid for Scientific Research(A) (Grant Number: JP20H00610).
Publisher Copyright:
© Fuji Technlogy Press Ltd.
PY - 2021
Y1 - 2021
N2 - Muscle contractions (or equivalent mechanical ele-ments) are responsible for joint movement in systems with musculoskeletal structure. Because muscles can only transmit force in the tensile direction in such sys-tems, the internal force exists between the muscles. By utilizing the potential field generated by the internal force, the musculoskeletal potential method makes it possible to control the position without complex real-time calculations or sensory feedback by entering step-inputs of the balanced internal force at the target pos-ture. However, the conditions of convergence to the target posture strongly depend on muscular arrange-ment. Previous studies have elucidated the mathemati-cal conditions of the muscular arrangement; however, they provide sufficient conditions that must be satis-fied by the muscular arrangement to converge to the target posture, which do not necessarily lead to optimal muscular arrangement conditions. This study proposes a method to determine the optimal muscular arrangement of a two-joint six-muscle system, wherein muscle viscosity is considered, that uses a genetic algorithm and an evaluation function considering the motion response time. The effect of the obtained muscular arrangement is verified in a simulation.
AB - Muscle contractions (or equivalent mechanical ele-ments) are responsible for joint movement in systems with musculoskeletal structure. Because muscles can only transmit force in the tensile direction in such sys-tems, the internal force exists between the muscles. By utilizing the potential field generated by the internal force, the musculoskeletal potential method makes it possible to control the position without complex real-time calculations or sensory feedback by entering step-inputs of the balanced internal force at the target pos-ture. However, the conditions of convergence to the target posture strongly depend on muscular arrange-ment. Previous studies have elucidated the mathemati-cal conditions of the muscular arrangement; however, they provide sufficient conditions that must be satis-fied by the muscular arrangement to converge to the target posture, which do not necessarily lead to optimal muscular arrangement conditions. This study proposes a method to determine the optimal muscular arrangement of a two-joint six-muscle system, wherein muscle viscosity is considered, that uses a genetic algorithm and an evaluation function considering the motion response time. The effect of the obtained muscular arrangement is verified in a simulation.
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U2 - 10.20965/JRM.2021.P0619
DO - 10.20965/JRM.2021.P0619
M3 - Article
AN - SCOPUS:85109889916
VL - 33
SP - 619
EP - 628
JO - Journal of Robotics and Mechatronics
JF - Journal of Robotics and Mechatronics
SN - 0915-3942
IS - 3
ER -