A Novel Muscle Coordination Method for Musculoskeletal Humanoid Systems and Its Application in Bionic Arm Control
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.
KeywordsMuscle Force Computation Arm Movement Control Redundancy Solution
Unable to display preview. Download preview PDF.
- 1.Wise, S., Shadmehr, R.: Motor Control. In: Encyclopedia of the Human Brain, pp. 137–157 (2002)Google Scholar
- 5.Yamaguchi, G.: Dynamic Modeling of Musculoskeletal Motion: A Vectorized Appoach for Biomechanical Analysis in Three Dimensions. Springer (2005)Google Scholar
- 6.Dong, H., Mavridis, N.: Muscle force distribution for adaptive control of a humanoid robot arm with redundant bi-articular and mono-articular muscle mechanism. Artificial Life and Robotics (2013)Google Scholar
- 8.Kelso, J.A.: Dynamic Patterns. MIT Press (1995)Google Scholar
- 9.Khachani, M., Davoodi, R., Loeb, G.: Musculo-skeletal modeling software (msms) for biomechanics and virtual rehabilitation. In: Proceeding of American Society of Biomechanics Conference (2007)Google Scholar
- 11.Maurel, W., Thalmann, D., Hoffmeyer, P., Beylot, P., Gingins, P., Kalra, P., Magnenat, N., Hoffmeyer, P.: A biomechanical musculoskeletal model of human upper limb for dynamic simulation. In: Proceedings of the Eurographics Computer Animation and Simulation Workshop (1996)Google Scholar