Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system

Hitoshi Kino; Hiroaki Ochi; Kenji Tahara; Yuki Matsutani; Ryota Ishibashi

doi:10.1109/ARSO.2013.6705497

Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system

Hitoshi Kino, Hiroaki Ochi, Kenji Tahara, Yuki Matsutani, Ryota Ishibashi

Control Systems

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

1 Citation (Scopus)

Abstract

The human body has a musculoskeletal system with the muscles which exist around the bones and joints. Taking notice of the structural characteristics that a human possesses inherently, this paper analyzes feedforward position control for the musculoskeletal system. The feedforward positioning does not need any sensory feedback by use of internal force balancing at a desired posture. Targeting a non-pulley musculoskeletal system with two links and six muscles, this paper clarifies mathematical conditions of the feedforward positioning to converge at a desired posture. In the analysis, muscular length is approximated by Taylor expansion. Based on quasi-statical approach, the convergent conditions are clarified. The verification of the conditions is conducted through simulation.

Original language	English
Title of host publication	2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest
Pages	1-6
Number of pages	6
DOIs	https://doi.org/10.1109/ARSO.2013.6705497
Publication status	Published - Dec 1 2013
Event	2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Tokyo, Japan Duration: Nov 7 2013 → Nov 9 2013

Publication series

Name	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
ISSN (Print)	2162-7568
ISSN (Electronic)	2162-7576

Other

Other	2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013
Country/Territory	Japan
City	Tokyo
Period	11/7/13 → 11/9/13

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Computer Science Applications
Computer Vision and Pattern Recognition
Electrical and Electronic Engineering

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10.1109/ARSO.2013.6705497

Cite this

Kino, H., Ochi, H., Tahara, K., Matsutani, Y., & Ishibashi, R. (2013). Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system. In 2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest (pp. 1-6). Article 6705497 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). https://doi.org/10.1109/ARSO.2013.6705497

Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system. / Kino, Hitoshi; Ochi, Hiroaki; Tahara, Kenji et al.
2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest. 2013. p. 1-6 6705497 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO).

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

Kino, H, Ochi, H, Tahara, K, Matsutani, Y & Ishibashi, R 2013, Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system. in 2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest., 6705497, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, pp. 1-6, 2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013, Tokyo, Japan, 11/7/13. https://doi.org/10.1109/ARSO.2013.6705497

Kino H, Ochi H, Tahara K, Matsutani Y, Ishibashi R. Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system. In 2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest. 2013. p. 1-6. 6705497. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). doi: 10.1109/ARSO.2013.6705497

Kino, Hitoshi ; Ochi, Hiroaki ; Tahara, Kenji et al. / Study of human motion generation based on redundancy of musculoskeletal structure : Analysis of potential generated by internal force for two-link system. 2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest. 2013. pp. 1-6 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO).

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Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system

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