Abstract
The muscle-reflex mechanisms of primate limbs are studied and modeled so that robotic controls may benefit from the findings. An extensive body of experimental evidence indicates that velocity-dependent force responses of the neuromuscular system have a nonlinear damping effect proportional to a fractional power of velocity. This highly nonlinear viscosity may help limbs adapt to different loads and bring movements to graceful terminations. To explore the characteristics of this nonlinear damping property, a theoretical study using the phase-plane approach is presented. The effects of different loads, damping constants, and stiffnesses are analyzed and simulated. From the results of this phase-plane analysis, a muscle-reflex model is developed and proposed for robotic compliance control.
| Original language | English (US) |
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| Title of host publication | Proc 1990 IEEE Int Conf Rob Autom |
| Publisher | Publ by IEEE |
| Pages | 1885-1890 |
| Number of pages | 6 |
| ISBN (Print) | 0818620617 |
| State | Published - Dec 1 1990 |
| Event | Proceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA Duration: May 13 1990 → May 18 1990 |
Other
| Other | Proceedings of the 1990 IEEE International Conference on Robotics and Automation |
|---|---|
| City | Cincinnati, OH, USA |
| Period | 5/13/90 → 5/18/90 |
ASJC Scopus subject areas
- Engineering(all)