Stability conditions of an ODE arising in human motion and its numerical simulation

Kosugi, Takahiro; Kino, Hitoshi; Goto, Masaaki; Matsutani, Yuki

doi:10.1016/j.rinam.2019.100063

Cited by 4 publications

(3 citation statements)

References 6 publications

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“…These concepts form the basis of the proposed path-tracking in this paper. Because the musculoskeletal potential method was studied in the references [16][17][18][19][20], it is only briefly explained here.…”

Section: Target Systemmentioning

confidence: 99%

“…( 8) to the muscular tension α as a step input for positioning to the desired joint angle θ d (=const.) [16][17][18][19][20].…”

Section: Control Inputmentioning

confidence: 99%

“…Matsutani et al showed that stability can be improved by combining this method with sensory feedback even in an unstable system in which sensory feedback suffers from dead time [19]. Kosugi et al showed that this method can be applied to a planar finger model that has waypoints for winding muscles around joints [20].…”

Section: Introductionmentioning

confidence: 99%

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Basic study of sensorless path tracking control based on the musculoskeletal potential method

et al. 2023

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In a musculoskeletal system, the musculoskeletal potential method utilizes the potential property generated by the internal force between muscles; posture control can be achieved by the step input of muscular tension balancing at the desired posture. The remarkable aspect of this method is that neither sensory feedback nor complicated real-time calculation is required at all. However, previous studies addressed only point-to-point control as motion control. In other words, with the focus on the convergence to the desired posture, path tracking has not been discussed. Extending the previous studies, this paper proposes a path tracking control based on a sensorless feedforward approach. The proposed method first finds the optimal set of muscular forces that can form the potential field to the desired potential shape realizing the desired path; next, inputting the obtained muscular forces into the system achieves path tracking. For verification, this paper demonstrates a case study of a musculoskeletal system with two joints and six muscles. In this case study, a constrained nonlinear programming method is used to find the optimal muscular force, and the path trackability is verified by numerical simulation.

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Section: Target Systemmentioning

confidence: 99%

“…( 8) to the muscular tension α as a step input for positioning to the desired joint angle θ d (=const.) [16][17][18][19][20].…”

Section: Control Inputmentioning

confidence: 99%

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Basic study of sensorless path tracking control based on the musculoskeletal potential method

et al. 2023

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Exact solution of a mathematical model for human muscular motion

Molati

2024

Examples and Counterexamples

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Optimal Muscular Arrangement Using Genetic Algorithm for Musculoskeletal Potential Method with Muscle Viscosity

Kino

Ochi

Tahara³

2021

JRM

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Muscle contractions (or equivalent mechanical elements) are responsible for joint movement in systems with musculoskeletal structure. Because muscles can only transmit force in the tensile direction in such systems, the internal force exists between the muscles. By utilizing the potential field generated by the internal force, the musculoskeletal potential method makes it possible to control the position without complex real-time calculations or sensory feedback by entering step-inputs of the balanced internal force at the target posture. However, the conditions of convergence to the target posture strongly depend on muscular arrangement. Previous studies have elucidated the mathematical conditions of the muscular arrangement; however, they provide sufficient conditions that must be satisfied by the muscular arrangement to converge to the target posture, which do not necessarily lead to optimal muscular arrangement conditions. This study proposes a method to determine the optimal muscular arrangement of a two-joint six-muscle system, wherein muscle viscosity is considered, that uses a genetic algorithm and an evaluation function considering the motion response time. The effect of the obtained muscular arrangement is verified in a simulation.

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Stability conditions of an ODE arising in human motion and its numerical simulation

Cited by 4 publications

References 6 publications

Basic study of sensorless path tracking control based on the musculoskeletal potential method

Basic study of sensorless path tracking control based on the musculoskeletal potential method

Exact solution of a mathematical model for human muscular motion

Optimal Muscular Arrangement Using Genetic Algorithm for Musculoskeletal Potential Method with Muscle Viscosity

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