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

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
出版社IEEE Computer Society
ページ815-820
ページ数6
ISBN(電子版)9781509034741
DOI
出版ステータス出版済み - 12 21 2016
イベント42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, イタリア
継続期間: 10 24 201610 27 2016

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

その他

その他42nd Conference of the Industrial Electronics Society, IECON 2016
国/地域イタリア
CityFlorence
Period10/24/1610/27/16

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • 電子工学および電気工学

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