人腕の筋配置を高精度に再現したシステムによる筋骨格ポテンシャル法

―平面2自由度モデルによる有効性の検証―

抄録

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.