NDLI: Co-contraction of antagonist bi-articular muscles for tracking control of human limb

Content Provider	IEEE Xplore Digital Library
Author	Kawai, Y. Downey, R.J. Kawai, H. Dixon, W.E.
Copyright Year	2014
Description	Author affiliation: Dept. of Robot., Kanazawa Inst. of Technol., Kanazawa, Japan (Kawai, H.) \|\| Dept. of Electr. Eng., Ishikawa Nat. Coll. of Technol., Tsubata, Japan (Kawai, Y.) \|\| Dept. of Mech. & Aerosp. Eng., Univ. of Florida, Gainesville, FL, USA (Downey, R.J.; Dixon, W.E.)
Abstract	This paper considers muscle contraction dynamics during co-contraction of antagonist bi-articular muscles for tracking control of a human limb. Co-contraction of antagonist muscles play an important role for joint stiffness and stability and experimental results show the existence of co-contraction during volitional movements. This paper shows the role of co-contraction by using three pairs of bi-articular antagonistic muscles. It is indicated that the co-contraction is useful not only to compensate the stability of the joint, but also to control the output force direction. The main contribution is to model the co-contraction control of human limb by using three pairs of bi-articular antagonistic muscles. A robust integral of the sign of the error (RISE) controller is shown to yield semi-global asymptotic tracking. The tracking control performance and stability are verified in the simulation.
Starting Page	3316
Ending Page	3321
File Size	468714
Page Count	6
File Format	PDF
ISBN	9781479932726
ISSN	07431619
e-ISBN	9781479932740
DOI	10.1109/ACC.2014.6859102
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-06-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Muscles Joints Force Stability analysis Torque Asymptotic stability Knee Control applications Mechanical systems/robotics Biologically-inspired methods
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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