抄録
Although it is widely believed that visco-elastic properties of muscles contribute to the stabilization of static postures of the human body, the contribution of them to the stabilization of periodic movements is not necessarily clear. This paper focuses on the effects of the muscle properties on the stability of periodic movements under a feedforward control of the musculo-skeletal system. First, cyclic movement tasks for the upper limb on the horizontal plane are assumed. Second, a musculo-skeletal model and a feedforward controller composed of an inverse muscle model and an inverse skeletal model are constructed. Third, the stability of the desired orbit of the control system is analyzed based on the Floquet theory. The results suggest that various orbits can be stabilized even under the feedforward control of the musculo-skeletal system.
