Motor impedance and inverse kinematics in musculoskeletal systems
Motor impedance and inverse kinematics in musculoskeletal systems
复制标题
肌肉骨骼系统中的电机阻抗和逆运动学
DOI：
10.1109/iembs.1988.94811
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发表时间：
1988
期刊：
影响因子：
--
通讯作者：
M. Nagamachi
中科院分区：
文献类型：
--
作者：
K. Ito;T. Tsuji;M. Nagamachi
讨论了一种解决肌肉骨骼系统运动冗余的方法。首先，通过定义两种雅可比矩阵，推导出肌肉力和终点运动之间的关系。然后，它示出的运动阻抗允许不仅端点位移，但也端点速度和加速度被转换到关节和肌肉坐标。<<ETX>>
A method for resolving kinematic redundancies of musculoskeletal systems is discussed. First, the relationships between muscle force and end-point motion are derived by defining two kinds of Jacobian matrices. Then it is shown that the motor impedance allows not only the end-point displacement but also the end-point velocity and acceleration to be transformed into the joint and muscle coordinates.<<ETX>>