Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm

Kenji Tahara, Zhi Wei Luo, Suguru Arimoto, Hitoshi Kino

Research output: Contribution to journalArticle

18 Citations (Scopus)

Abstract

This paper studies the human arm's sensory-motor control mechanism in reaching movements. First, we formulate both the kinematics and dynamics of a two-link planar arm model with six redundant muscles. The nonlinear muscle dynamics is modeled based on several biological understandings. We then show the stability of the overall system and perform some numerical simulations. By considering the internal forces induced by the redundant muscles, we show that the damping factors in each joint can be regulated, and as the result, it can realize humanlike quasistraight line reaching movements. In addition, we also propose the gravity compensation method at the muscle input level and present the result of numerical simulation to verify the usefulness of this method.

Original languageEnglish
Pages (from-to)639-651
Number of pages13
JournalJournal of Robotic Systems
Volume22
Issue number11
DOIs
Publication statusPublished - Nov 1 2005
Externally publishedYes

Fingerprint

Muscle
Computer simulation
Gravitation
Kinematics
Damping

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm. / Tahara, Kenji; Luo, Zhi Wei; Arimoto, Suguru; Kino, Hitoshi.

In: Journal of Robotic Systems, Vol. 22, No. 11, 01.11.2005, p. 639-651.

Research output: Contribution to journalArticle

Tahara, Kenji ; Luo, Zhi Wei ; Arimoto, Suguru ; Kino, Hitoshi. / Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm. In: Journal of Robotic Systems. 2005 ; Vol. 22, No. 11. pp. 639-651.
@article{71ea31d332de499e9370926a7db700eb,
title = "Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm",
abstract = "This paper studies the human arm's sensory-motor control mechanism in reaching movements. First, we formulate both the kinematics and dynamics of a two-link planar arm model with six redundant muscles. The nonlinear muscle dynamics is modeled based on several biological understandings. We then show the stability of the overall system and perform some numerical simulations. By considering the internal forces induced by the redundant muscles, we show that the damping factors in each joint can be regulated, and as the result, it can realize humanlike quasistraight line reaching movements. In addition, we also propose the gravity compensation method at the muscle input level and present the result of numerical simulation to verify the usefulness of this method.",
author = "Kenji Tahara and Luo, {Zhi Wei} and Suguru Arimoto and Hitoshi Kino",
year = "2005",
month = "11",
day = "1",
doi = "10.1002/rob.20089",
language = "English",
volume = "22",
pages = "639--651",
journal = "Journal of Field Robotics",
issn = "1556-4959",
publisher = "John Wiley and Sons Inc.",
number = "11",

}

TY - JOUR

T1 - Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm

AU - Tahara, Kenji

AU - Luo, Zhi Wei

AU - Arimoto, Suguru

AU - Kino, Hitoshi

PY - 2005/11/1

Y1 - 2005/11/1

N2 - This paper studies the human arm's sensory-motor control mechanism in reaching movements. First, we formulate both the kinematics and dynamics of a two-link planar arm model with six redundant muscles. The nonlinear muscle dynamics is modeled based on several biological understandings. We then show the stability of the overall system and perform some numerical simulations. By considering the internal forces induced by the redundant muscles, we show that the damping factors in each joint can be regulated, and as the result, it can realize humanlike quasistraight line reaching movements. In addition, we also propose the gravity compensation method at the muscle input level and present the result of numerical simulation to verify the usefulness of this method.

AB - This paper studies the human arm's sensory-motor control mechanism in reaching movements. First, we formulate both the kinematics and dynamics of a two-link planar arm model with six redundant muscles. The nonlinear muscle dynamics is modeled based on several biological understandings. We then show the stability of the overall system and perform some numerical simulations. By considering the internal forces induced by the redundant muscles, we show that the damping factors in each joint can be regulated, and as the result, it can realize humanlike quasistraight line reaching movements. In addition, we also propose the gravity compensation method at the muscle input level and present the result of numerical simulation to verify the usefulness of this method.

UR - http://www.scopus.com/inward/record.url?scp=28044437139&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=28044437139&partnerID=8YFLogxK

U2 - 10.1002/rob.20089

DO - 10.1002/rob.20089

M3 - Article

VL - 22

SP - 639

EP - 651

JO - Journal of Field Robotics

JF - Journal of Field Robotics

SN - 1556-4959

IS - 11

ER -