Sensory-motor control of a muscle redundant arm for reaching movements - Convergence analysis and gravity compensation

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

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

11 Citations (Scopus)

Abstract

-In this paper, we study the sensory motor control mechanism in human reaching movements by considering the redundant muscle dynamics. We first formulate the kinematics and dynamics of a two-link arm model with six muscles, and introduce the nonlinear muscle dynamics based on the biological understanding. Secondly, we show the stability of the system by using intrinsic muscle characteristics and La Salle's invariance theorem. From this result and the numerical simulations, we propose that the reaching movement can be regulated by the internal forces of the redundant muscles, in detail, the muscle's internal forces can be used to control the damping of the joints. In addition, human can compensate the gravity by using antigravity muscles. To realize this effect in the arm, we propose the gravity compensation method at the muscle input level from the viewpoint of robotics. We present the result of numerical simulation to verify the usefulness of this compensation method.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages517-522
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005
Externally publishedYes

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

All Science Journal Classification (ASJC) codes

  • Human-Computer Interaction
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering

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