Functional Coordination Control of Pairs of Antagonistic Muscles.

Fujikawa, Tomohiko; Oshima, Toru; Kumamoto, Minayori; Yokoi, N.

doi:10.1299/kikaic.63.769

Cited by 20 publications

(31 citation statements)

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“…It has been also reported that the distribution shape of force output becomes a regular hexagon when (10) is available in the coordination control model [2]. Thus, the contents of (2) through (13) mean that the coordination control mode under the uniform distribution of force output can be controlled in the same principle as AC machine.…”

Section: Control Models Unified In Organic System a Coordinate Tmentioning

confidence: 96%

“…Especially, a very interesting fact is that the antagonistic pairs of bi-articular muscles show specific characteristics of control properties [1], [2], and the application of such knowledge and information is expected to allow the robot to perform humanlike smooth and dexterous actions. Fig.…”

Section: Introductionmentioning

confidence: 99%

“…Fujikawa et al have been studying the characteristics of human physical function and are now proposing the coordination control model [2] that is driven with two antagonistic pairs of mono-articular muscles and one antagonistic pairs of bi-articular muscles. Their experiment has already verified that this model can set free the endpoint stiffness ellipse.…”

Section: Introductionmentioning

confidence: 99%

“…On the contrary, the results of references [2] and [3] indicate that a common basic principles may exist in both models. The time difference of actions at points is set depending on input patterns to the neural circuits at the spinal level in the model of virtual tri-articular muscles of the lancelet, and the direction of arm force is controlled in the coordination control model of human beings.…”

Section: Introductionmentioning

confidence: 99%

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A model of antagonistic triarticular muscle mechanism for lancelet robot

Tsuji

2010

2010 11th IEEE International Workshop on Advanced Motion Control (AMC)

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This paper describes the development of a robot simulating a lancelet, a chordate often treated as a surrogate for the ancestor of the vertebrate. Although a lancelet has primitive neural circuits, it accomplishes dexterous swimming motion. Hence this study attempts to imitate the swimming motion with simple control architecture and investigate the principle of motion control. The control principle is discussed in comparison with that of human and motors. The similarity between the three motion control systems leads to basic motion control principle with less computation. Simulation results show the minimum composition of the robot for efficient swimming motion. Experimental results show the property of the swimming motion generated by the proposed method.

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Section: Control Models Unified In Organic System a Coordinate Tmentioning

confidence: 96%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A model of antagonistic triarticular muscle mechanism for lancelet robot

Tsuji

2010

2010 11th IEEE International Workshop on Advanced Motion Control (AMC)

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“…Kobayashi et al have developed a wearable support apparatus, which is named "Muscle Suit" [2]. On the other hand, the McKibben muscle has some disadvantages, hysteresis, nonlinearity of response, delay in pressure control, etc.. One of the solutions for improving control performance is to antagonistically arrange the McKibben muscles [3]. Antagonistic arrangement cancels part of disadvantages in McKibben muscles and improves control performance.…”

Section: Introductionmentioning

confidence: 99%

Controller Design for Robot with Pneumatic Artificial Muscles

Tsuji

Miyata

Hashimoto

et al. 2006

2006 SICE-ICASE International Joint Conference

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This paper addresses a control issue of a robot with antagonistic McKibben artificial muscle. It is already shown that antagonized arrangement cancels some disadvantages of McKibben muscles. It also realizes control of both joint stiffness and joint torque. This study proposes a novel method to improve control bandwidth by adjusting joint stiffness. Joint stiffness is manipulated according to requested specification such as control bandwidth and compatibility to human. Experimental results verify the validity of the proposed method.

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Biomechanics of Strength and Strength Training

Zatsiorsky¹

2003

Strength and Power in Sport

148

133

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The objective of this lecture is to systematize and convey biomechanical knowledge to athletic practitioners, specifically coaches.By definition, strength, or muscular strength, is the ability to exert maximal external force.Three main problems exist in strength conditioning for qualified athletes: 1. Exercise selection -which exercises should be used by the athlete; 2. Training load, in particular training intensity and volume; and 3. Training timing, i.e. the distribution of the exercises and load over the time periods. The problem of the exercise selection only, in particular its biomechanical aspects, is covered in this lecture. EXERCISE SPECIFlCITY. As adaptations effects are specific, the exercises employed in training need to correspond with the main spon exercise. The degree of this correspondence, or similarity, is called specijicay of the training exercise. The specificity of training directly reflects its efficiency and deserves thoughtful attention by the coach. A main tendency in the modern training of elite athletes is the increased percentage of specific exercises. Contemporary sport training is, in general, more specific than training in the past.In various sports, exercise specificity is determined by different factors. In strength and power sports, the movement coordination, in the broad sense of this term, is scrutinized. Main sport exercises with additional resistanceRequirements for the exercise specificity are best met when the main sport movement, with increased (added) resistance, is used for training.Resistance in athletic events can be increased in various ways.(a) Add i t ion a I w e i g h t. Implements of heavier weight such as weight vests, belts, hand cuffs, ankle cuffs, etc. may be worn. While this approach is simple, it should be noted that the demand for the venical force (acting against gravity) principally increases with supplementary weight. Exercising with additional weight requires that force is exerted in an inappropriate direction, i.e.too venically.(b) Up h i J I a m b u I a t ion (running, walking, skiing, etc). This practice is limited by the possible changes in spon technique.(c) Re tar din g the at hie t e 's pro g res S ion; for example, running with a harness, towing a sled, or a pulley machine with a weight stack. These methods are cumbersome in that the equipment is bulky and heavy.(d) I n c rea sed a e rod y n a mic res i s tan c e. This method is very popular among elite athletes in spons such as speed Skating, running, and others. Small parachutes are used for this pU!1'0se. When the athlete runs, the parachute inflates, which creates a drag force. The higher the running velocity, the greater the resistance force. Assistance exercisesA variety of strength exercises, beyond the main sport exercise, are used in the training routines of athletes. The selection of strength exercises for qualified athletes is J

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Functional Coordination Control of Pairs of Antagonistic Muscles.

Cited by 20 publications

References 0 publications

A model of antagonistic triarticular muscle mechanism for lancelet robot

A model of antagonistic triarticular muscle mechanism for lancelet robot

Controller Design for Robot with Pneumatic Artificial Muscles

Biomechanics of Strength and Strength Training

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