Name
Title | ||
|---|---|---|
Analysis of muscle coordination in human pedaling and implementation with a musculoskeletal robot |
Abstract | ||
|---|---|---|
This paper describes a novel method for controlling a human-like musculoskeletal leg robot by implementing muscle coordination in human voluntary movement. To examine human motor control involving the ill-posed problem of redundant degrees-of-freedom (DOFs), we introduce the concept of the agonist-antagonist muscle pair ratio (A-A ratio) which represents the coordination of agonist-antagonist muscle pairs. Our concept enables us to extract kinematic information (instantaneous equilibrium posture) from the electromyography (EMG) signals. We show two patterns of muscle coordination extracted from the A-A ratio dataset during human pedaling, clarifying the motor functions of these patterns. Then, by transferring the muscle coordination of human pedaling to a human-like musculoskeletal leg robot with redundant DOFs of pneumatic artificial muscles, we enable the robot to achieve pedaling movement. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/HUMANOIDS.2012.6651582 | Humanoid Robots |
Keywords | Field | DocType |
electroactive polymer actuators,electromyography,humanoid robots,pneumatic control equipment,robot kinematics,A-A ratio,EMG,agonist-antagonist muscle pair ratio,electromyography signals,human motor control,human pedaling,human voluntary movement,human-like musculoskeletal leg robot,instantaneous equilibrium posture,kinematic information,muscle coordination,pneumatic artificial muscles,redundant DOF | Kinematics,Computer science,Simulation,Robot kinematics,Electromyography,Motor control,Pneumatic artificial muscles,Motor coordination,Robot,Humanoid robot | Conference |
ISSN | Citations | PageRank |
2164-0572 | 1 | 0.45 |
References | Authors | |
2 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Oku, T. | 1 | 1 | 0.45 |
| Inoue, K. | 2 | 2 | 0.84 |
| Tuan Pham | 3 | 503 | 73.75 |
| Tominaga, K. | 4 | 3 | 0.90 |