Co-contraction of antagonist bi-articular muscles for tracking control of human limb
Co-contraction of antagonist bi-articular muscles for tracking control of human limb
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DOI：
10.1109/acc.2014.6859102
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发表时间：
2014-06
期刊：
影响因子：
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通讯作者：
Yasunori Kawai;Ryan J. Downey;H. Kawai;W. Dixon
中科院分区：
文献类型：
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作者：
Yasunori Kawai;Ryan J. Downey;H. Kawai;W. Dixon
本文研究了人体肢体跟踪控制中拮抗双关节肌协同收缩时的肌肉收缩动力学。拮抗肌的协同收缩对关节的刚度和稳定性起着重要的作用，实验结果表明，在意志运动过程中存在协同收缩。本文用三对双关节拮抗肌来说明协同收缩的作用。研究表明，关节的共同收缩不仅可以补偿关节的稳定性，而且可以控制关节的输出力方向。本文的主要贡献是利用三对双关节拮抗肌来模拟人体肢体的协同收缩控制。一个强大的积分的错误（RISE）控制器的符号产生半全局渐近跟踪。仿真结果验证了跟踪控制的性能和稳定性。
This paper considers muscle contraction dynamics during co-contraction of antagonist bi-articular muscles for tracking control of a human limb. Co-contraction of antagonist muscles play an important role for joint stiffness and stability and experimental results show the existence of co-contraction during volitional movements. This paper shows the role of co-contraction by using three pairs of bi-articular antagonistic muscles. It is indicated that the co-contraction is useful not only to compensate the stability of the joint, but also to control the output force direction. The main contribution is to model the co-contraction control of human limb by using three pairs of bi-articular antagonistic muscles. A robust integral of the sign of the error (RISE) controller is shown to yield semi-global asymptotic tracking. The tracking control performance and stability are verified in the simulation.