9
Views
16
CrossRef citations to date
0
Altmetric
PAPERS

On control of reaching movements for musculo-skeletal redundant arm model

, , &
Pages 11-26 | Received 24 Jun 2008, Accepted 01 Feb 2009, Published online: 12 May 2009

References

  • Arimoto , S , Sekimoto , M , Hashiguchi , H and Ozawa , R . 2005 . Natural resolution of ill-posedness of inverse kinematics for redundant robots: a challenge to Bernstein's degrees-of-freedom problem . Adv Robot , 19 ( 4 ) : 401 – 434 .
  • Arimoto , S and Sekimoto , M . Human-like movements of robotic arms with redundant DOFs: virtual spring-damper hypothesis to tackle the Bernstein problem . Proceedings of IEEE International Conference Robotics and Automation 1860–1866 .
  • Bernstein , N . 1935 . The problem of the interrelation of coordination and localization . Arch Biol Sci , 38 : 15 – 59 . (reprinted as Bernstein NA. 1967. The coordination and regulation of movements. London: Pergamon
  • Bizzi , E , Hogan , N , Mussa-Ivaldi , F and Giszter , S . 1992 . Does the nervous system use equilibrium-point control to guide single and multiple joint movements? . Behav Brain Sci , 15 : 603 – 613 .
  • Bizzi , E , Polit , A and Morasso , P . 1976 . Mechanism underlying achievement of final head position . J Neurophysiol , 3 ( 9 ) : 435 – 444 .
  • Delp , S and Loan , J . 2000 . A computational framework for simulating and analyzing human and animal movement . IEEE Comput Sci Eng. , 2 : 46 – 55 .
  • Fel'dman , A . 1966 . Functional tuning of the nervous system with control of movement or maintenance of steady posture. iii. mechanographic analysis of the execution by man of the simplest robot tasks . Biophysics. , 11 : 766 – 775 .
  • Fel'dman , A . 1986 . Once more on the equilibrium-point hypothesis (λ model) for motor control . J Mot Behav. , 18 : 17 – 54 .
  • Flash , T . 1987 . The control of hand equilibrium trajectories in multi-joint arm movements . Biol Cybern , 57 ( 4–5 ) : 257 – 274 .
  • Flash , T and Hogan , N . 1985 . The coordination of arm movements: an experimentally confirmed mathematical model . J Neurosci , 5 ( 7 ) : 1688 – 1703 .
  • Gribble , P , Mullin , L , Cothros , N and Mattar , A . 2003 . Role of co-contraction in arm movement accuracy . J Neurophysiol. , 89 : 2396 – 2405 .
  • Hill , A . 1938 . The heat of shortening and the dynamic constants of muscles . Proc R Soc B , 975 : 136 – 195 .
  • Hogan , N . 1984a . An organizing principle for a class of voluntary movements . J Neurosci , 4 ( 11 ) : 2745 – 2754 .
  • Hogan , N . 1984b . Adaptive control of mechanical impedance by coactivation of antagonist muscles . IEEE Trans Automat Contr , AC-29 ( 8 ) : 681 – 690 .
  • Hollerbach , J and Suh , K . 1987 . Redundancy resolution of manipulators through torque optimisation . IEEE Trans Robot Autom , RA-3 ( 4 ) : 308 – 316 .
  • Houdijk , H , Bobbert , M and De Haan , A . 2006 . Evaluation of a Hill based muscle model for the energy cost and efficiency of muscular contraction . J Biomech , 39 ( 3 ) : 536 – 543 .
  • Katayama , M and Kawato , M . 1993 . Virtual trajectory and stiffness ellipse during multijoint arm movement predicted by neural inverse model . Biol Cybern , 69 ( 5–6 ) : 353 – 362 .
  • Kawato , M , Furukawa , K and Suzuki , R . 1987 . A hierarchical neural network model for control and learning of voluntary movement . Biol Cybern , 57 ( 3 ) : 169 – 185 .
  • Kawato , M , Maeda , Y , Uno , Y and Suzuki , R . 1990 . Trajectory formation of arm movements by cascade neural network model based on minimum torque-change criterion . Biol Cybern , 62 ( 4 ) : 275 – 288 .
  • Killeen , P . 1992 . Mechanics of the animate . J Exp Anal Behav , 57 ( 3 ) : 429 – 463 .
  • Mashima , H , Akazawa , K , Kushima , H and Fujii , K . 1972 . The force-load-velocity relation and the viscous-like force in the frog skeletal muscle . Jap J Physiol. , 22 : 103 – 120 .
  • Mclntyre , J and Bizzi , E . 1993 . Servo hypotheses for the biological control of movement . J Mot Behav , 25 ( 3 ) : 193 – 202 .
  • Morraso , P . 1981 . Spatial control of arm movements . Exp Brain Res. , 42 : 223 – 227 .
  • Nakamura , Y . 1991 . Advanced robotics: redundancy and optimisation , Reading (MA) : Addison-Wesley .
  • Osu , R , Gomi , H , Domen , K , Yoshioka , T and Kawato , M . 1997 . Decrease in joint stiffness during motor learning revealed from measured EMG signals . Paper presented at: The Society for Neuroscience 27th Annual Meeting. , 23 : 202
  • Perreault , E , Heckman , C and Sandercock , T . 2003 . Hill muscle model errors during movement are greatest within the physiologically relevant range of motor unit firing rates . J Biomech , 36 ( 2 ) : 211 – 218 .
  • Rasmussen , J , Damsgaard , M , Surma , E , Christensen , S , de Zee , M and Vondrak , V . AnyBody—a software system for ergonomic optimisation . Paper presented at: 5th World Congress on Structural and Multidisciplinary Optimisation . May 19–23 2003 , Lido di Jesolo, Venice, Italy.
  • Tahara , K , Luo , Z W , Arimoto , S and Kino , H . 2005 . Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm . J Robot Sys , 22 ( 11 ) : 639 – 651 .
  • Tahara , K , Luo , Z W and Arimotos . On control mechanism of human-like reaching movements with musculo-skeletal redundancy . Proceedings of IEEE/RSJ International Conference Intellerence Robots and Systems 1402–1409 . Edmonton, Canada.
  • Takegaki , M and Arimoto , S . 1981 . A new feedback method for dynamic control of manipulators . ASME J Dynam Syst Meas Control. , 102 : 119 – 125 .
  • Tsuji , T , Morasso , P , Goto , K and Ito , K . 1994 . Human hand impedance characteristics during maintained posture . Biol Cybern , 72 ( 6 ) : 475 – 485 .
  • Todorov , E and Jordan , M . 2002 . Optimal feedback control as a theory of motor coordination . Nature Neuroscience , 5 ( 11 ) : 1226 – 1235 .

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.