Sensibility to muscular arrangement of feedforward position control for non-pulley-musculoskeletal system

Hitoshi Kino; Shiro Kikuchi; Yuki Matsutani; Kenji Tahara

doi:10.1007/978-94-007-6996-0_86

Sensibility to muscular arrangement of feedforward position control for non-pulley-musculoskeletal system

Hitoshi Kino, Shiro Kikuchi, Yuki Matsutani, Kenji Tahara

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper studies the feedforward position control induced by the redundancy in a non-pulley-musculoskeletal system. Targeting a planar two-link musculoskeletal system with six muscles as a case study, the motion convergence depending on the muscular arrangement is examined. The results indicate that the motion convergence is extremely sensitive to the muscular arrangement and that adding small offsets for the points of muscle connection can remarkably improve the positioning performance.

Original language	English
Title of host publication	Information Technology Convergence
Subtitle of host publication	Security, Robotics, Automations and Communication
Publisher	Springer Verlag
Pages	827-833
Number of pages	7
ISBN (Print)	9789400769953
DOIs	https://doi.org/10.1007/978-94-007-6996-0_86
Publication status	Published - 2013
Event	5th FTRA International Conference on Information Technology Convergence and Services, ITCS 2013 and the 3rd International Conference on Intelligent Robotics, Automations, Telecommunication Facilities, and Applications, IRoA 2013 - Fukuoka, Japan Duration: Jul 8 2013 → Jul 10 2013

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	253 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Other

Other	5th FTRA International Conference on Information Technology Convergence and Services, ITCS 2013 and the 3rd International Conference on Intelligent Robotics, Automations, Telecommunication Facilities, and Applications, IRoA 2013
Country/Territory	Japan
City	Fukuoka
Period	7/8/13 → 7/10/13

All Science Journal Classification (ASJC) codes

Industrial and Manufacturing Engineering

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10.1007/978-94-007-6996-0_86

Cite this

Kino, H., Kikuchi, S., Matsutani, Y., & Tahara, K. (2013). Sensibility to muscular arrangement of feedforward position control for non-pulley-musculoskeletal system. In Information Technology Convergence: Security, Robotics, Automations and Communication (pp. 827-833). (Lecture Notes in Electrical Engineering; Vol. 253 LNEE). Springer Verlag. https://doi.org/10.1007/978-94-007-6996-0_86

Sensibility to muscular arrangement of feedforward position control for non-pulley-musculoskeletal system. / Kino, Hitoshi; Kikuchi, Shiro; Matsutani, Yuki et al.
Information Technology Convergence: Security, Robotics, Automations and Communication. Springer Verlag, 2013. p. 827-833 (Lecture Notes in Electrical Engineering; Vol. 253 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kino, H, Kikuchi, S, Matsutani, Y & Tahara, K 2013, Sensibility to muscular arrangement of feedforward position control for non-pulley-musculoskeletal system. in Information Technology Convergence: Security, Robotics, Automations and Communication. Lecture Notes in Electrical Engineering, vol. 253 LNEE, Springer Verlag, pp. 827-833, 5th FTRA International Conference on Information Technology Convergence and Services, ITCS 2013 and the 3rd International Conference on Intelligent Robotics, Automations, Telecommunication Facilities, and Applications, IRoA 2013, Fukuoka, Japan, 7/8/13. https://doi.org/10.1007/978-94-007-6996-0_86

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Sensibility to muscular arrangement of feedforward position control for non-pulley-musculoskeletal system

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