On dynamic control mechanisms of redundant human musculo-skeletal system

Kenji Tahara, Zhi Wei Luo

研究成果: 著書/レポートタイプへの貢献

2 引用 (Scopus)

抄録

This chapter deals with modeling of human-like reaching and pinching movements. For the reaching movements, we construct a two-link planar arm model with six redundant muscles. A simple task-space feedback control scheme, taking into account internal forces induced by the redundant and nonlinear muscles, is proposed for this model. Numerical simulations show that our sensory-motor control can realize human-like reaching movements. The effect of gravity is also studied here and a method for the gravity compensation on the muscle input signal level is introduced. The stability of this method is proved and its effectiveness is shown through numerical simulations. For the pinching movements, realized by the index finger and the thumb, the co-contraction between the flexor and extensor digitorum muscles is analyzed. It is shown that an internal force term can be generated by the redundant muscles to modulate a damping factor in the joint space. Numerical simulations show that the co-contraction of each digitorums makes it possible to realize human-like pinching movements. Our results suggest that the central nervous system (CNS) does not need to calculate complex mathematical models based on the inverse dynamics or on the planning of optimal trajectories. Conversely, the human motor functions can be realized through the sensory-motor control by exploiting the passivity, nonlinearity and the redundancy of the musculo-skeletal systems.

元の言語英語
ホスト出版物のタイトルAdvances in Robot Control
ホスト出版物のサブタイトルFrom Everyday Physics to Human-Like Movements
出版者Springer Berlin Heidelberg
ページ217-247
ページ数31
ISBN(印刷物)3540373462, 9783540373469
DOI
出版物ステータス出版済み - 12 1 2006
外部発表Yes

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Musculoskeletal system
Muscle
Computer simulation
Gravitation
Neurology
Feedback control
Redundancy
Damping
Trajectories
Mathematical models
Planning

All Science Journal Classification (ASJC) codes

  • Engineering(all)

これを引用

Tahara, K., & Luo, Z. W. (2006). On dynamic control mechanisms of redundant human musculo-skeletal system. : Advances in Robot Control: From Everyday Physics to Human-Like Movements (pp. 217-247). Springer Berlin Heidelberg. https://doi.org/10.1007/978-3-540-37347-6_11

On dynamic control mechanisms of redundant human musculo-skeletal system. / Tahara, Kenji; Luo, Zhi Wei.

Advances in Robot Control: From Everyday Physics to Human-Like Movements. Springer Berlin Heidelberg, 2006. p. 217-247.

研究成果: 著書/レポートタイプへの貢献

Tahara, K & Luo, ZW 2006, On dynamic control mechanisms of redundant human musculo-skeletal system. : Advances in Robot Control: From Everyday Physics to Human-Like Movements. Springer Berlin Heidelberg, pp. 217-247. https://doi.org/10.1007/978-3-540-37347-6_11
Tahara K, Luo ZW. On dynamic control mechanisms of redundant human musculo-skeletal system. : Advances in Robot Control: From Everyday Physics to Human-Like Movements. Springer Berlin Heidelberg. 2006. p. 217-247 https://doi.org/10.1007/978-3-540-37347-6_11
Tahara, Kenji ; Luo, Zhi Wei. / On dynamic control mechanisms of redundant human musculo-skeletal system. Advances in Robot Control: From Everyday Physics to Human-Like Movements. Springer Berlin Heidelberg, 2006. pp. 217-247
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