Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force

Kenji Tahara; Yuki Matsutani; Daisuke Nakagawa; Masataka Sato; Hitoshi Kino

doi:10.1109/IECON.2016.7793411

Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force

Kenji Tahara, Yuki Matsutani, Daisuke Nakagawa, Masataka Sato, Hitoshi Kino

Control Systems

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

2 Citations (Scopus)

Abstract

In this paper, our previously proposed set-point control method for a musculoskeletal system is improved to reduce required muscular forces and to avoid a saturation of muscular forces during movement. The previous method is robust against a considerable time-delay in sensory information, but it still requires large muscular forces to accomplish a desired position, and the maximum exertable muscular force has not yet been taken into consideration. To cope with these two issues, two variable parameters are newly introduced. One is for changing the combination ratio of feed-forward and feedback controllers to reduce necessary muscular forces. The other is for avoiding the saturation of muscular forces during movement The effectiveness of the proposed controller is demonstrated through several numerical simulation results.

Original language	English
Title of host publication	Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
Publisher	IEEE Computer Society
Pages	815-820
Number of pages	6
ISBN (Electronic)	9781509034741
DOIs	https://doi.org/10.1109/IECON.2016.7793411
Publication status	Published - Dec 21 2016
Event	42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy Duration: Oct 24 2016 → Oct 27 2016

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	42nd Conference of the Industrial Electronics Society, IECON 2016
Country/Territory	Italy
City	Florence
Period	10/24/16 → 10/27/16

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2016.7793411

Cite this

Tahara, K., Matsutani, Y., Nakagawa, D., Sato, M., & Kino, H. (2016). Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force. In Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society (pp. 815-820). Article 7793411 (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON.2016.7793411

Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force. / Tahara, Kenji; Matsutani, Yuki; Nakagawa, Daisuke et al.
Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society. IEEE Computer Society, 2016. p. 815-820 7793411 (IECON Proceedings (Industrial Electronics Conference)).

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

Tahara, K, Matsutani, Y, Nakagawa, D, Sato, M & Kino, H 2016, Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force. in Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society., 7793411, IECON Proceedings (Industrial Electronics Conference), IEEE Computer Society, pp. 815-820, 42nd Conference of the Industrial Electronics Society, IECON 2016, Florence, Italy, 10/24/16. https://doi.org/10.1109/IECON.2016.7793411

Tahara K, Matsutani Y, Nakagawa D, Sato M, Kino H. Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force. In Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society. IEEE Computer Society. 2016. p. 815-820. 7793411. (IECON Proceedings (Industrial Electronics Conference)). doi: 10.1109/IECON.2016.7793411

Tahara, Kenji ; Matsutani, Yuki ; Nakagawa, Daisuke et al. / Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force. Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society. IEEE Computer Society, 2016. pp. 815-820 (IECON Proceedings (Industrial Electronics Conference)).

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Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force

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