Sensibility to muscular arrangement of feedforward position control for non-pulley-musculoskeletal system

Hitoshi Kino, Shiro Kikuchi, Yuki Matsutani, Kenji Tahara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper studies the feedforward position control induced by the redundancy in a non-pulley-musculoskeletal system. Targeting a planar two-link musculoskeletal system with six muscles as a case study, the motion convergence depending on the muscular arrangement is examined. The results indicate that the motion convergence is extremely sensitive to the muscular arrangement and that adding small offsets for the points of muscle connection can remarkably improve the positioning performance.

Original languageEnglish
Title of host publicationInformation Technology Convergence
Subtitle of host publicationSecurity, Robotics, Automations and Communication
Pages827-833
Number of pages7
DOIs
Publication statusPublished - Aug 12 2013
Event5th FTRA International Conference on Information Technology Convergence and Services, ITCS 2013 and the 3rd International Conference on Intelligent Robotics, Automations, Telecommunication Facilities, and Applications, IRoA 2013 - Fukuoka, Japan
Duration: Jul 8 2013Jul 10 2013

Publication series

NameLecture Notes in Electrical Engineering
Volume253 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Other

Other5th FTRA International Conference on Information Technology Convergence and Services, ITCS 2013 and the 3rd International Conference on Intelligent Robotics, Automations, Telecommunication Facilities, and Applications, IRoA 2013
CountryJapan
CityFukuoka
Period7/8/137/10/13

Fingerprint

Musculoskeletal system
Feedforward control
Position control
Muscle
Redundancy

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering

Cite this

Kino, H., Kikuchi, S., Matsutani, Y., & Tahara, K. (2013). Sensibility to muscular arrangement of feedforward position control for non-pulley-musculoskeletal system. In Information Technology Convergence: Security, Robotics, Automations and Communication (pp. 827-833). (Lecture Notes in Electrical Engineering; Vol. 253 LNEE). https://doi.org/10.1007/978-94-007-6996-0-86

Sensibility to muscular arrangement of feedforward position control for non-pulley-musculoskeletal system. / Kino, Hitoshi; Kikuchi, Shiro; Matsutani, Yuki; Tahara, Kenji.

Information Technology Convergence: Security, Robotics, Automations and Communication. 2013. p. 827-833 (Lecture Notes in Electrical Engineering; Vol. 253 LNEE).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kino, H, Kikuchi, S, Matsutani, Y & Tahara, K 2013, Sensibility to muscular arrangement of feedforward position control for non-pulley-musculoskeletal system. in Information Technology Convergence: Security, Robotics, Automations and Communication. Lecture Notes in Electrical Engineering, vol. 253 LNEE, pp. 827-833, 5th FTRA International Conference on Information Technology Convergence and Services, ITCS 2013 and the 3rd International Conference on Intelligent Robotics, Automations, Telecommunication Facilities, and Applications, IRoA 2013, Fukuoka, Japan, 7/8/13. https://doi.org/10.1007/978-94-007-6996-0-86
Kino H, Kikuchi S, Matsutani Y, Tahara K. Sensibility to muscular arrangement of feedforward position control for non-pulley-musculoskeletal system. In Information Technology Convergence: Security, Robotics, Automations and Communication. 2013. p. 827-833. (Lecture Notes in Electrical Engineering). https://doi.org/10.1007/978-94-007-6996-0-86
Kino, Hitoshi ; Kikuchi, Shiro ; Matsutani, Yuki ; Tahara, Kenji. / Sensibility to muscular arrangement of feedforward position control for non-pulley-musculoskeletal system. Information Technology Convergence: Security, Robotics, Automations and Communication. 2013. pp. 827-833 (Lecture Notes in Electrical Engineering).
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