By modeling the nonlinear damping property of the biological muscle-reflex system, a neuromuscular-like controller has been proved to be capable of reflexing to any changing displacement and enhancing the compliant forces for the changing motion. The unique capability possessed by this controller presents a prominent application for designing a mechanical orthosis in aiding the limb motion of the disabled people who have minimal or no voluntary control of limb muscle. To demonstrate the feasibility and effectiveness of the concept, the elbow and shoulder joints of a PUMA 560 robot were implemented with the neuromuscular-like control to emulate the limb motion.
|Original language||English (US)|
|Number of pages||6|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|State||Published - Jan 1 1996|
ASJC Scopus subject areas
- Control and Systems Engineering