Model of Neurocontrol of Anthropomorphic Systems
The proposed neural model of control of multijoint anthropomorphic systems imitates the visual-motor transformations performed in living creatures. It involves three subtasks: development of the model of the human arm biomechanics; modelling of the neuromuscular apparatus of living creatures; design of the central neurocontroller. The Equilibrium Point theory simplifies the task (reaching movement) performed by the central neurocontroller to the inverse static problem. The contribution of various nonlinear effects of muscle force generation on the accuracy of linear approximation have been tested and qualified. It has been found that the presence of the time delay is substantial. The proposed complex model may provide a scientific base for the design of anthropomorphic robots and manipulators.
KeywordsMuscle Force Intrafusal Fibre Inverse Dynamic Problem Anthropomorphic Robot Equilibrium Point Hypothesis
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