Paper Info
Title
Co-contraction of antagonist bi-articular muscles for tracking control of human limb
Abstract
This paper considers muscle contraction dynamics during co-contraction of antagonist bi-articular muscles for tracking control of a human limb. Co-contraction of antagonist muscles play an important role for joint stiffness and stability and experimental results show the existence of co-contraction during volitional movements. This paper shows the role of co-contraction by using three pairs of bi-articular antagonistic muscles. It is indicated that the co-contraction is useful not only to compensate the stability of the joint, but also to control the output force direction. The main contribution is to model the co-contraction control of human limb by using three pairs of bi-articular antagonistic muscles. A robust integral of the sign of the error (RISE) controller is shown to yield semi-global asymptotic tracking. The tracking control performance and stability are verified in the simulation.
Year
DOI
Venue
2014
10.1109/ACC.2014.6859102
American Control Conference
Keywords
Field
DocType
biocontrol,biomechanics,elastic constants,muscle,neuromuscular stimulation,RISE,antagonist bi-articular muscle co-contraction,co-contraction control,human limb,joint stability,joint stiffness,muscle contraction dynamics,output force direction,robust integral of the sign of the error controller,semi-global asymptotic tracking,tracking control performance,volitional movements,Biologically-inspired methods,Control applications,Mechanical systems/robotics
Contraction (grammar),Muscle contraction,Joint stiffness,Control theory,Computer science,Control theory,Antagonist,Control engineering
Conference
ISSN
Citations 
PageRank 
0743-1619
2
0.46
References 
Authors
6
4
Name
Order
Citations
PageRank
Yasunori Kawai133.53
Ryan Downey2355.02
Hiroyuki Kawai3279.11
Warren E. Dixon41757149.42