A stiffness control schema for perturbed and unperturbed joint movement

Author

Towhidkhah, F. ; Gander, R.E. ; Wood, H.C.

Author_Institution

Div. of Biomed. Eng., Saskatchewan Univ., Saskatoon, Sask., Canada

fYear

1993

fDate

6/15/1905 12:00:00 AM

Firstpage

392

Lastpage

396

Abstract

A model for controlling the position of a joint is presented. The model is based on the stiffness control strategy which is supposed to play an important role in the control of both human posture and human movement. To compensate for the effect of external disturbances, a feedforward mechanism is used in the model. Two cases are considered: unperturbed, inertial-visco-stiffness loaded movements, and perturbed movements by additive measurable disturbance. The optimal trajectory for both cases is computed by using the subject effort as a criterion function, as was proposed by Z. Hasan (1986).

Keywords

biocontrol; biomechanics; neurophysiology; position control; additive measurable disturbance; feedforward mechanism; human movement; human posture; inertial-visco-stiffness loaded movements; optimal trajectory; perturbed movements; stiffness control schema; unperturbed joint movement; Actuators; Bidirectional control; Biomedical measurements; Central nervous system; Centralized control; Control systems; Electronic switching systems; Force control; Motion measurement; Muscles;

fLanguage

English

Publisher

ieee

Conference_Titel

WESCANEX 93. 'Communications, Computers and Power in the Modern Environment.' Conference Proceedings., IEEE

Conference_Location

Saskatoon, Sask., Canada

Print_ISBN

0-7803-1319-4

Type

conf

DOI

10.1109/WESCAN.1993.270517

Filename

270517