むだ時間を含む感覚フィードバックと筋内力フィードフォワードの相補的組み合わせによる筋骨格アームの位置制御

Translated title of the contribution: Set-point Control for a Musculoskeletal System using Complementary Combination of a Sensory Feedback Including a Time-delay and a Muscular Internal Force Feedforward

松谷 祐希, 田原 健二, 木野 仁, 越智 裕章, 山本 元司

Research output: Contribution to journalArticle

Abstract

In this paper, a new set-point control method for a musculoskeletal system by combining a feedback control including a large time-delay with a muscular internal force feedforward control is proposed to accomplish a robust and rapid positioning with relatively low muscular contraction forces. It is known that feedback control under the existence of a large time-delay owns a drawback that there is a serious trade-off between a control performance and its stability. On the other hand, the muscular internal force feedforward control, which we have already proposed, also owns a drawback that it requires a large muscular contraction forces to make a good performance in a wide range. A simple linear combination of these two controllers makes it possible to improve the control performance and to complement each drawbacks each other. Firstly a two-link six-muscle arm model is given as a specific musculoskeletal system treated in this study. Secondly the new control law, which is composed of the feedback control signal including the time-delay and the internal force feedforward control signal, is constructed by only using a kinematic information of the musculoskeletal arm model. Next, a stability of the proposed method is discussed using Lyapunov-Razumikhin method. After that, results of several numerical simulations are shown to demonstrate several advantages of the proposed method.
Original languageJapanese
Pages (from-to)143-152
Number of pages10
Journal日本ロボット学会誌
Volume34
Issue number2
DOIs
Publication statusPublished - 2016

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Musculoskeletal system
Sensory feedback
Feedforward control
Time delay
Force control
Feedback control
Lyapunov methods
Muscle
Kinematics
Controllers
Computer simulation

Cite this

@article{cb8c4218b9454159883aba0a8208e716,
title = "むだ時間を含む感覚フィードバックと筋内力フィードフォワードの相補的組み合わせによる筋骨格アームの位置制御",
abstract = "In this paper, a new set-point control method for a musculoskeletal system by combining a feedback control including a large time-delay with a muscular internal force feedforward control is proposed to accomplish a robust and rapid positioning with relatively low muscular contraction forces. It is known that feedback control under the existence of a large time-delay owns a drawback that there is a serious trade-off between a control performance and its stability. On the other hand, the muscular internal force feedforward control, which we have already proposed, also owns a drawback that it requires a large muscular contraction forces to make a good performance in a wide range. A simple linear combination of these two controllers makes it possible to improve the control performance and to complement each drawbacks each other. Firstly a two-link six-muscle arm model is given as a specific musculoskeletal system treated in this study. Secondly the new control law, which is composed of the feedback control signal including the time-delay and the internal force feedforward control signal, is constructed by only using a kinematic information of the musculoskeletal arm model. Next, a stability of the proposed method is discussed using Lyapunov-Razumikhin method. After that, results of several numerical simulations are shown to demonstrate several advantages of the proposed method.",
author = "祐希 松谷 and 健二 田原 and 仁 木野 and 裕章 越智 and 元司 山本",
year = "2016",
doi = "10.7210/jrsj.34.143",
language = "Japanese",
volume = "34",
pages = "143--152",
journal = "日本ロボット学会誌",
issn = "0289-1824",
publisher = "一般社団法人 日本ロボット学会",
number = "2",

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T1 - むだ時間を含む感覚フィードバックと筋内力フィードフォワードの相補的組み合わせによる筋骨格アームの位置制御

AU - 松谷, 祐希

AU - 田原, 健二

AU - 木野, 仁

AU - 越智, 裕章

AU - 山本, 元司

PY - 2016

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N2 - In this paper, a new set-point control method for a musculoskeletal system by combining a feedback control including a large time-delay with a muscular internal force feedforward control is proposed to accomplish a robust and rapid positioning with relatively low muscular contraction forces. It is known that feedback control under the existence of a large time-delay owns a drawback that there is a serious trade-off between a control performance and its stability. On the other hand, the muscular internal force feedforward control, which we have already proposed, also owns a drawback that it requires a large muscular contraction forces to make a good performance in a wide range. A simple linear combination of these two controllers makes it possible to improve the control performance and to complement each drawbacks each other. Firstly a two-link six-muscle arm model is given as a specific musculoskeletal system treated in this study. Secondly the new control law, which is composed of the feedback control signal including the time-delay and the internal force feedforward control signal, is constructed by only using a kinematic information of the musculoskeletal arm model. Next, a stability of the proposed method is discussed using Lyapunov-Razumikhin method. After that, results of several numerical simulations are shown to demonstrate several advantages of the proposed method.

AB - In this paper, a new set-point control method for a musculoskeletal system by combining a feedback control including a large time-delay with a muscular internal force feedforward control is proposed to accomplish a robust and rapid positioning with relatively low muscular contraction forces. It is known that feedback control under the existence of a large time-delay owns a drawback that there is a serious trade-off between a control performance and its stability. On the other hand, the muscular internal force feedforward control, which we have already proposed, also owns a drawback that it requires a large muscular contraction forces to make a good performance in a wide range. A simple linear combination of these two controllers makes it possible to improve the control performance and to complement each drawbacks each other. Firstly a two-link six-muscle arm model is given as a specific musculoskeletal system treated in this study. Secondly the new control law, which is composed of the feedback control signal including the time-delay and the internal force feedforward control signal, is constructed by only using a kinematic information of the musculoskeletal arm model. Next, a stability of the proposed method is discussed using Lyapunov-Razumikhin method. After that, results of several numerical simulations are shown to demonstrate several advantages of the proposed method.

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