Transactions of Japanese Society for Medical and Biological Engineering
Online ISSN : 1881-4379
Print ISSN : 1347-443X
ISSN-L : 1347-443X
A nonlinear control model of musculoskeletal systems with minimum jerk trajectories
Yoichi MoriYutaro YoshiokaTaiga YamasakiXin XinShinsaku Izumi
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2020 Volume Annual58 Issue Proc Pages 584-585

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Abstract

Conventional models of human motor control can-not always possible to provide a clear understanding of the mechanism for controlling nonlinear dynamics of the musculoskeletal systems. In this study, we propose a model that combines the feedback linearization of the musculoskeletal system with an intermittent controller. This model can compatibly realize the nonlinear control of the musculoskeletal system and the simple motion planning in the workspace based on the minimum jerk criterion. Here, we show an example of a musculoskeletal model with a single joint.

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© 2020 Japanese Society for Medical and Biological Engineering
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