抄録
This paper proposes a set-point control method for a musculoskeletal system considering maximum muscular force. In our previous work, the set-point control method for a musculoskeletal system was proposed which combines a feedforward control with a sensory feedback control including a considerable time-delay. However, the maximum output force of each muscle have not been considered though it sometimes induces a wind-up phenomenon because of the saturation of the muscular force. The ratio function to determine the ratio of feedforward and feedback control inputs is newly introduced in this paper to prevent such a wind-up phenomenon without the saturation of muscular force, and generate more sophisticated reaction motion even if disturbances are added on the end-point during movement. Numerical simulation results are shown to demonstrate the effectiveness of the proposed method.
