A Novel Muscle Coordination Method for Musculoskeletal Humanoid Systems and Its Application in Bionic Arm Control

  • Haiwei Dong
  • Setareh Yazdkhasti
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8226)


The muscle force control of musculoskeletal humanoid system has been considered for years in motor control, biomechanics and robotics disciplines. In this paper, we consider the muscle force control as a problem of muscle coordination. We give a general muscle coordination method for mechanical systems driven by agonist and antagonist muscles. Specifically, the muscle force is computed by two steps. First, the initial muscle force is computed by pseudo-inverse. Here, the pseudo-inverse solution naturally satisfies the minimum total muscle force in the least squares sense. Second, the initial optimized muscle force is optimized by taking the optimization criteria of distributing muscle force in the middle of its output force range. The two steps provide an even-distributed muscle force. The proposed method is validated by a movement tracking of a bionic arm which has 5 degrees of freedom and 22 muscles. The force distribution property, tracking accuracy and efficiency are also tested.


Muscle Force Computation Arm Movement Control Redundancy Solution 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Haiwei Dong
    • 1
  • Setareh Yazdkhasti
    • 2
  1. 1.Devision of EngineeringNew York University ADAbu DhabiUAE
  2. 2.College of EngineeringAl Ghurair UniversityAcademic CityDubai, UAE

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