Control of contact in robots and biological systems

Summary form only given. The consequences of dynamic interaction caused by physical contact with objects is discussed. Robotic experience has demonstrated that contact with objects can result in unstable behavior, yet humans contact and manipulate objects with no evidence of contact instability. It is shown that impedance control may be used in a robot or prosthesis to eliminate contact instability. Evidence that a similar approach may be the basis of human motor behavior in comparable tasks is reviewed. A model based on exploitation of apparent neuromuscular impedance is shown to be remarkably competent to reproduce fine details of multi-joint reaching behavior. The implication of this model is that some of the stability properties associated with posture are preserved during movement and may be used to simplify its execution. Experiments in which human subjects held the handle of a manipulandum and performed simple reaching motions to visually presented targets are described.<>