Concurrent adaptation of force and impedance in the redundant muscle system

Biological Cybernetics

Volumn 102, Issue 1, 2010, Pages 31-44

  Tee, Keng Peng ^a,b   Franklin, David W ^c,d,e   Kawato, Mitsuo ^e   Milner, Theodore E ^f   Burdet, Etienne ^a,g  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

^b INSTITUTE FOR INFOCOMM RESEARCH   (Singapore)

^c UNIVERSITY OF CAMBRIDGE   (United Kingdom)

^d NATIONAL INSTITUTE OF INFORMATION AND COMMUNICATIONS TECHNOLOGY   (Japan)

^e ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

^f MCGILL UNIVERSITY   (Canada)

^g IMPERIAL COLLEGE LONDON   (United Kingdom)

Author keywords

End effector redundancy; Hybrid force impedance control; Iterative and nonlinear adaptive control; Learning; Muscle space; Optimization

Indexed keywords

ARBITRARY DIRECTION; ARM MOVEMENTS; CO-ACTIVATION; CO-ORDINATED CONTROL; COMPUTATIONAL MODEL; END-EFFECTOR REDUNDANCY; ENVIRONMENT DYNAMICS; IMPEDANCE CONTROL; LEARNING; MOTOR LEARNING; MULTI-JOINT; MUSCLE SYSTEM; NOISE PROPERTIES; NONLINEAR ADAPTIVE CONTROL; RECIPROCAL ACTIVATION; SIGNAL DEPENDENT NOISE; SIMPLE RULES; TOOL USE; UNSTABLE DYNAMICS;

ADAPTIVE CONTROL SYSTEMS; QUALITY ASSURANCE; REDUNDANCY;

MUSCLE;

ADAPTATION; ALGORITHM; ARM; ARTICLE; BIOLOGICAL MODEL; COMPUTER SIMULATION; HISTOLOGY; HUMAN; LEARNING; MOTOR ACTIVITY; MUSCLE CONTRACTION; PHYSIOLOGY; PSYCHOMOTOR PERFORMANCE; SKELETAL MUSCLE;

ADAPTATION, PHYSIOLOGICAL; ALGORITHMS; ARM; COMPUTER SIMULATION; HUMANS; LEARNING; MODELS, BIOLOGICAL; MOTOR ACTIVITY; MUSCLE CONTRACTION; MUSCLE, SKELETAL; PSYCHOMOTOR PERFORMANCE;

EID: 73849151044     PISSN: 03401200     EISSN: 14320770     Source Type: Journal    
DOI: 10.1007/s00422-009-0348-z     Document Type: Article

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