A Robotic Approach toward Understanding Human Motor Control: Novel Equilibrium-Point Control of Agonist-Antagonist Systems

Abstract

This paper presents a robotic approach toward understanding human motor control, and proposes a novel method for controlling the equilibrium posture of a human-like musculoskeletal robot by implementing muscle synergies extracted from EMG analysis in human voluntary movement. A successful performance of our robot validates the efficacy of our approach.