On control mechanism of human-like reaching movements with musculo-skeletal redundancy

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 1402-1409

  Tahara, Kenji ^a   Luo, Zhi Wei ^a,b   Arimoto, Suguru ^a,c  

^a RIKEN   (Japan)

^b KOBE UNIVERSITY   (Japan)

^c RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; DAMPING; FEEDBACK CONTROL; MUSCULOSKELETAL SYSTEM; NONLINEAR CONTROL SYSTEMS; ROBOTICS;

DAMPING EFFECTS; HUMAN REACHING MOVEMENTS; MONOARTICULAR MUSCLES; NONLINEAR MUSCLE PROPERTY;

MOTION CONTROL;

EID: 34250664203     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.281931     Document Type: Conference Paper

References (19)

1. N.A. Bernstein, "The problem of the interrelation of coordination and localization," Arch. Biol. Sci., vol. 38, pp. 15-59, 1935.
2. J.M. Hollerbach and K.C. Sun, "Redundancy resolution of manipulators through torque optimization," IEEE J. Robot. Automat., vol. RA-3, no. 4, pp. 308-316, 1987.
3. Y. Nakamura, Advanced Robotics: Redundancy and Optimization, Massachusetts, Addison-Wesley, Reading, 1991.
4. N. Hogan, "An organizing principle for a class of voluntary movements," J. Neurosci., vol. 4, no. 11, pp. 2745-2754, 1984.
5. M. Kawato, Y. Maeda, Y. Uno, and R. Suzuki, "Trajectory formation of aim movements by cascade neural network model based on minimum torque-change criterion," Biol. Cybern., vol. 62, no. 4, pp. 275-288, 1990.
6. A.V. Hill, "The heat of shortening and the dynamic constants of muscles," Proc. R. Soc., B 126, pp 136-195, 1938.
7. H. Mashima, K. Akazawa, H. Kushima, and K. Fujii, "The force-load-velocity relation and the viscous-like force in the frog skeletal muscle," Jap. J. Physiol., vol. 22, pp. 103-120, 1972.
8. P. Morraso, "Spatial control of arm movements," Exp. Brain Res., vol. 42, pp. 223-227, 1981.
9. N. Hogan, "Adaptive control of mechanical impedance by coactivation of antagonist muscles," IEEE Trans. Automat. Contr., vol. AC-29, no. 8, pp. 681-690, 1984.
10. P.L. Cribble, L.I. Mullin, N. Cothros and A. Matter, "Role of cocontraction in arm movement accuracy," J. Neurophysiol., vol. 89, pp. 2396-2405, 2003.
11. S. Arimoto, M. Sekimoto, H. Hashiguchi and R. Ozawa, "Natural resolution of ill-posedness of inverse kinematics for redundant robots: a challenge to Bernstein's degrees-of-freedom problem," Adv. Robot., vol. 19, no. 4, pp. 401-434, 2005.
12. S. Arimoto, M. Sekimoto, and R. Ozawa, "A challenge to Bernstein's degrees-of-freedom problem in both cases of human and robotic multi-joint movements," IEICE Trans. Fundamentals, vol. E88-A, no. 10, pp. 2484-2495, 2005.
13. A.G. Fel'dman, "Once more on the equilibrium-point hypothesis (A model) for motor control," J. Mot. Behav., vol. 18, pp. 17-54, 1986.
14. J. Mclntyre, E. Bizzi, "Servo hypotheses for the biological control of movement," J. Mot. Behav., vol. 25, no. 3, pp. 193-202, 1993.
15. K. Tahara, Z.W. Luo, S. Arimoto, H. Kino, "Task-space feedback control for a two-link arm driven by six muscles with variable damping and elastic properties," Proc. IEEE Int. Conf. Robot. Automat., Barcelona, Spain, 2005, pp. 224-229.
16. K. Tahara, Z.W. Luo, S. Arimoto, H. Kino, "Sensory-motor control of a muscle redundant arm for reaching movements -Convergence analysis and gravity compensation-," Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst., Edmonton, Canada, 2005, pp. 2870-2875.
17. K. Tahara, Z.W. Luo, S. Arimoto, H. Kino, "Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm," J. Robot. Syst., vol. 22, no. 11, pp. 639-651, 2005.
18. K. Tahara, Z.W. Luo, R. Ozawa, J.-H. Bae and S. Arimoto, "Bio-mimetic study on pinching motions of a dual-finger model with synergistic actuation of antagonist muscles," Proc. IEEE Int. Conf. Robot. Autom., Orlando, FL, 2006, pp. 994-999.
19. nd ed. (Y. Bar-Cohen Ed.), SPIE Press (2004)