Musculoskeletal Potential Method for Arm System Replicating Human Muscular Configuration with High Precision

- Validation of Effectiveness using Planar 2-DOF Model -

Abstract

This paper focuses on the feedforward position control of the 2-DOF musculoskeletal system that has two joints and six muscles using the musculoskeletal potential method. This musculoskeletal model is based on OpenSim upper limb model ”arm26”. In this paper, the input internal muscular force is found by solving an optimization problem where the absolute value of generated torque at the target posture is minimized. The results demonstrate that posture control using the musculoskeletal potential method is effective in the model that accurately replicates the muscular arrangement of the real human arm.