A neuromuscular-like model for robotic compliance control

Chi-Haur Wu*, Kuu Young Young, James Charles Houk

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations


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 languageEnglish (US)
Title of host publicationProc 1990 IEEE Int Conf Rob Autom
PublisherPubl by IEEE
Number of pages6
ISBN (Print)0818620617
StatePublished - Dec 1 1990
EventProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
Duration: May 13 1990May 18 1990


OtherProceedings of the 1990 IEEE International Conference on Robotics and Automation
CityCincinnati, OH, USA

ASJC Scopus subject areas

  • Engineering(all)


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