78
Views
0
CrossRef citations to date
0
Altmetric
Research Article

Study on switching from position to stiffness control for musculoskeletal-inspired robot arm based on direct sum decomposition

Pages 155-163 | Received 29 Oct 2023, Accepted 22 Apr 2024, Published online: 06 May 2024

References

  • Hogan N. Adaptive control of mechanical impedance by coactivation of antagonist muscles. IEEE Trans Autom Control. 1984;29(8):681–690. doi: 10.1109/TAC.1984.1103644
  • Hogan N. The mechanics of multi-joint posture and movement control. Biol Cybern. 1985;52(5):315–331. doi: 10.1007/BF00355754
  • Katayama M, Kawato M. Learning trajectory and force control of an artificial muscle arm by parallel-hierarchical neural network model. Adv Neural Inf Process Syst. 1991;3:436–442.
  • Stanev D, Moustakas K. Stiffness modulation of redundant musculoskeletal systems. J Biomech. 2019;85:101–107. doi: 10.1016/j.jbiomech.2019.01.017
  • Salvucci V, Kimura Y, Oh S, et al. Force maximization of biarticularly actuated manipulators using infinity norm. IEEE/ASME Trans Mechatron. 2013;18(3):1080–1089. doi: 10.1109/TMECH.2012.2193670
  • Jantsch M, Wittmeier S, Dalamagkidis K, et al. Adaptive neural network dynamic surface control: an evaluation on the musculoskeletal robot anthrob. In: Proceedings of 2015 IEEE International Conference on Robotics and Automation; May 2630; Seattle, WA; 2015. doi: 10.1109/ICRA.2015.7139799
  • Tahara K, Arimoto S, Sekimoto M, et al. On control of reaching movements for musculo-skeletal redundant arm model. Appl Bionics Biomech. 2009;6(1):11–26. doi: 10.1155/2009/498363
  • Toshimi S. Position and stiffness control of musculoskeletal-inspired robot arm based on direct sum decomposition. In: Proceedings of SICE Annual Conference; 2023 Sep 69; Tsu, Japan; 2023.
  • Toshimi S. New solution to the force distribution problem for a special class of musculoskeletal robot arms based on direct sum decomposition. Mech Machine Theory. 2020;151:103900. doi: 10.1016/j.mechmachtheory.2020.103900
  • Ito K, Tsuji T. Control properties of human-prosthesis systems with bilinear variable structure. In: Mancini G, Martensson L, Johannsen G, editors. Proceedings of 2nd IFAC/IFIP/IFORS/IEA Conference on Analysis, Design and Evaluation of Man-Machine Systems; Sep 10–12; Varese, Italy; 1985. doi: 10.1016/S1474-6670(17)60245-3
  • Mera R, Okajima H, Matsunaga N, et al. Stiffness parameter estimation of the muscle for six muscle model using the longitudinal elastic modulus search with gradient method. Jpn J Ergon. 2012;48(4):187–195, (in Japanese).