Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force

Kenji Tahara, Yuki Matsutani, Daisuke Nakagawa, Masataka Sato, Hitoshi Kino

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

2 Citations (Scopus)

Abstract

In this paper, our previously proposed set-point control method for a musculoskeletal system is improved to reduce required muscular forces and to avoid a saturation of muscular forces during movement. The previous method is robust against a considerable time-delay in sensory information, but it still requires large muscular forces to accomplish a desired position, and the maximum exertable muscular force has not yet been taken into consideration. To cope with these two issues, two variable parameters are newly introduced. One is for changing the combination ratio of feed-forward and feedback controllers to reduce necessary muscular forces. The other is for avoiding the saturation of muscular forces during movement The effectiveness of the proposed controller is demonstrated through several numerical simulation results.

Original languageEnglish
Title of host publicationProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PublisherIEEE Computer Society
Pages815-820
Number of pages6
ISBN (Electronic)9781509034741
DOIs
Publication statusPublished - Dec 21 2016
Event42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
Duration: Oct 24 2016Oct 27 2016

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
CountryItaly
CityFlorence
Period10/24/1610/27/16

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Tahara, K., Matsutani, Y., Nakagawa, D., Sato, M., & Kino, H. (2016). Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force. In Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society (pp. 815-820). [7793411] (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON.2016.7793411