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Backstepping Control of Muscle Driven Systems with Redundancy Resolution

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Document pages: 6 pages

Abstract: Due to the several applications on Human-machine interaction (HMI), this areaof research has become one of the most popular in recent years. This is thecase for instance of advanced training machines, robots for rehabilitation,robotic surgeries and prosthesis. In order to ensure desirable performances,simulations are recommended before real-time experiments. These simulationshave not been a problem in HMI on the side of the machine. However, the lack ofcontrollers for human dynamic models suggests the existence of a gap forperforming simulations for the human side. This paper offers to fulfill theprevious gap by introducing a novel method based on a feedback controller forthe dynamics of muscle-driven systems. The approach has been developed fortrajectory tracking of systems with redundancy muscle resolution. To illustratethe validation of the method, a shoulder model actuated by a group of eightlinkages, eight muscles and three degrees of freedom was used. The controllerobjective is to move the arm from a static position to another one throughmuscular activation. The results on this paper show the achievement of the armmovement, musculoskeletal dynamics and muscle activations.

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