Title :
What are the advantages of variable stiffness control?
Author_Institution :
Dept. of Brain & Cognitive Sci., MIT, Cambridge, MA, USA
Abstract :
Summary form only given. The role of stiffness modulation in limb movement control is discussed in light of recent measurements of the stiffness of the human elbow joint during free movement. The stiffness is found to be low during movement, in comparison to the stiffness measured under isometric conditions. Since reflexes and muscle co-activation determine the total stiffness, utilizing a low stiffness minimizes the danger of instability arising from feedback delays and the energy required for co-activation.<>
Keywords :
biocontrol; biomechanics; elasticity; feedback delays; free movement; human elbow joint; human elbow joint stiffness; instability danger minimization; isometric conditions; muscle coactivation; reflexes; stiffness modulation; Centralized control; Control systems; Muscles; Optimal control; Weight control;
Journal_Title :
Engineering in Medicine and Biology Magazine, IEEE
