Compensation for loads during arm movements using equilibrium-point control
Compensation for loads during arm movements using equilibrium-point control
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DOI：
10.1007/s002210000547
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发表时间：
2000-12-01
影响因子：
2
通讯作者：
Ostry, DJ
中科院分区：
文献类型：
--
作者：
Gribble, PL;Ostry, DJ
电机控制中的一个重要问题是如何使用关于运动误差的信息来修改控制信号以实现期望的性能。运动误差的一个潜在来源和一个容易控制的实验涉及肢体动力学和相关的运动相关的负载。在本文中，我们已经使用了位置控制模型来检查的变化，控制信号的手臂运动的背景下，运动相关的负载。在该模型中，基于平衡点假设，平衡偏移直接与期望和实际移动之间的位置误差成比例地进行调整。该模型是用来模拟多关节运动中存在的“内部”的负载，由于联合相互作用的扭矩，和外部施加的负载导致的速度依赖的力场。在这两种情况下，它表明，该模型可以实现密切对应的经验数据，使用一个简单的线性自适应过程。该模型的一个重要特征是，它实现了在运动过程中的负载补偿，而不需要位置误差和相关的校正力之间的坐标变换，或逆动力学计算。
A significant problem in motor control is how information about movement error is used to modify control signals to achieve desired performance. A potential source of movement error and one that is readily controllable experimentally relates to limb dynamics and associated movement-dependent loads. In this paper, we have used a position control model to examine changes to control signals for arm movements in the context of movement-dependent loads. In the model, based on the equilibrium-point hypothesis, equilibrium shifts are adjusted directly in proportion to the positional error between desired and actual movements. The model is used to simulate multi-joint movements in the presence of both "internal" loads due to joint interaction torques, and externally applied loads resulting from velocity-dependent force fields. In both cases it is shown that the model can achieve close correspondence to empirical data using a simple linear adaptation procedure. An important feature of the model is that it achieves compensation for loads during movement without the need for either coordinate transformations between positional error and associated corrective forces, or inverse dynamics calculations.