Abstract
It is important to understand the control system of human movement when we develop robot manipulators or prosthesis devices. As muscle models, Hill type models have been used by many researchers. However, there are some limitations in the model when we calculate nonlinear behavior such as shortening-induced force depression. We have proposed a systematic motor model that has a controller based on chemical scheme of myosin cross-bridges. The systematic motor model consists of a converter, a controller and a muscle model. The muscle model has two parallel Maxwell elements and a force generator. It is designed that the systematic motor model is driven by artifical action potential (AAP) to generate force. Then, the AAP is calculated from surface electromyography (SEMG) which is detected at the belly of biceps. We compared simulation results with force obtained experimentally.
