Simulation of Antagonistic Muscle Actions Through the Use of Sliding-Mode Control Techniques

Abstract

A sliding-mode controller is applied to a two-dimensional, ten-segment human locomotor system model in order to track kinematic gait samples. Motion tracking is performed to within 2 degrees of the references for the mean of ten samples with driving moments typically within two standard deviations of the expected values. The use of sliding-mode techniques also produces antagonistic muscle activity at periods similar to those measured from experimental subjects.