Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system

Hitoshi Kino, Hiroaki Ochi, Kenji Tahara, Yuki Matsutani, Ryota Ishibashi

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

1 Citation (Scopus)

Abstract

The human body has a musculoskeletal system with the muscles which exist around the bones and joints. Taking notice of the structural characteristics that a human possesses inherently, this paper analyzes feedforward position control for the musculoskeletal system. The feedforward positioning does not need any sensory feedback by use of internal force balancing at a desired posture. Targeting a non-pulley musculoskeletal system with two links and six muscles, this paper clarifies mathematical conditions of the feedforward positioning to converge at a desired posture. In the analysis, muscular length is approximated by Taylor expansion. Based on quasi-statical approach, the convergent conditions are clarified. The verification of the conditions is conducted through simulation.

Original languageEnglish
Title of host publication2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest
Pages1-6
Number of pages6
DOIs
Publication statusPublished - Dec 1 2013
Event2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Tokyo, Japan
Duration: Nov 7 2013Nov 9 2013

Publication series

NameProceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
ISSN (Print)2162-7568
ISSN (Electronic)2162-7576

Other

Other2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013
CountryJapan
CityTokyo
Period11/7/1311/9/13

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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  • Cite this

    Kino, H., Ochi, H., Tahara, K., Matsutani, Y., & Ishibashi, R. (2013). Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system. In 2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest (pp. 1-6). [6705497] (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). https://doi.org/10.1109/ARSO.2013.6705497