Sensory-motor control of a muscle redundant arm for reaching movements - convergence analysis and gravity compensation
Sensory-motor control of a muscle redundant arm for reaching movements - convergence analysis and gravity compensation
复制标题
用于伸展运动的肌肉冗余臂的感觉运动控制 - 收敛分析和重力补偿
DOI：
10.1109/iros.2005.1545411
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
H. Kino
中科院分区：
文献类型：
--
作者：
K. Tahara;Zhiwei Luo;S. Arimoto;H. Kino
在本文中，我们通过考虑冗余肌肉动力学来研究人类伸手运动中的感觉运动控制机制。我们首先制定了具有六块肌肉的两连杆手臂模型的运动学和动力学，并引入了基于生物学理解的非线性肌肉动力学。其次，我们利用内在的肌肉特性和拉萨尔不变性定理证明了系统的稳定性。根据这个结果和数值模拟，我们提出到达运动可以通过多余肌肉的内力来调节，具体来说，肌肉的内力可以用来控制关节的阻尼。此外，人类还可以利用反重力肌肉来补偿重力。为了在手臂上实现这种效果，我们从机器人学的角度提出了肌肉输入层面的重力补偿方法。我们给出了数值模拟的结果来验证这种补偿方法的有效性。
In this paper, we study the sensory motor control mechanism in human reaching movements by considering the redundant muscle dynamics. We first formulate the kinematics and dynamics of a two-link arm model with six muscles, and introduce the nonlinear muscle dynamics based on the biological understanding. Secondly, we show the stability of the system by using intrinsic muscle characteristics and La Salle's invariance theorem. From this result and the numerical simulations, we propose that the reaching movement can be regulated by the internal forces of the redundant muscles, in detail the muscle's internal forces can be used to control the damping of the joints. In addition, human can compensate the gravity by using antigravity muscles. To realize this effect in the arm, we propose the gravity compensation method at the muscle input level from the viewpoint of robotics. We present the result of numerical simulation to verify the usefulness of this compensation method.