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 journalArticlepeer-review

20 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

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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