Task-space feedback control for a two-link arm driven by six muscles with variable damping and elastic properties

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

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

12 Citations (Scopus)

Abstract

It is well-known that a human musculo-skeletal body is redundant in terms of both kinematics and dynamics. The former means that the degree of freedom in joint space is larger than that in task space, and the latter means that a joint is driven by a number of muscles. All human skillful movements can be performed by using both redundancies. However, these redundancies induce the underlying ill-posedness problem that each joint angle and muscle's output forces cannot be uniquely determined. These ill-posedness problems are known as "Bernstein's problem" and are important to understand how human multi-joint movements are produced. In this study, we address the latter redundancy problem on how muscle's output forces can be determined from the viewpoint of robotics. In this paper, we consider a reaching movement by means of a two-link planar arm with six muscles and show that both damping and elastic properties coming from nonlinear dynamics of the muscles play a crucial role. By using a simple task space feedback control input together with an additional term to control the internal force to regulate damping and elasticity in joint space, we show some simulation results which exhibit human-like quasi-straight line movement.

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages223-228
Number of pages6
DOIs
Publication statusPublished - Dec 1 2005
Externally publishedYes
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period4/18/054/22/05

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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