Simulation Evaluation for Methods Used to Determine Muscular Internal Force Based on Joint Stiffness Using Muscular Internal Force Feedforward Controller for Musculoskeletal System
Abstract:This study proposes two novel methods for determining the muscular internal force (MIF) based on joint stiffness, using an MIF feedforward controller for the musculoskeletal system. The controller was developed in a previous study, where we found that it could be applied to achieve any desired end-point position without the use of sensors, by providing the MIF as a feedforward input to individual muscles. However, achieving motion with good response and low stiffness using the system, posed a challenge. Furthe… Show more
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