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 language | English |
|---|---|
| Pages (from-to) | 639-651 |
| Number of pages | 13 |
| Journal | Journal of Robotic Systems |
| Volume | 22 |
| Issue number | 11 |
| DOIs | |
| Publication status | Published - Nov 1 2005 |
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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 journal › Article
}
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
AN - SCOPUS:28044437139
VL - 22
SP - 639
EP - 651
JO - Journal of Field Robotics
JF - Journal of Field Robotics
SN - 1556-4959
IS - 11
ER -