DocumentCode
3456053
Title
Motor impedance and inverse kinematics in musculoskeletal systems
Author
Ito, Koji ; Tsuji, Toshio ; Nagamachi, Mitsuo
Author_Institution
Fac. of Eng., Hiroshima Univ., Japan
fYear
1988
fDate
4-7 Nov. 1988
Firstpage
635
Abstract
A method for resolving kinematic redundancies of musculoskeletal systems is discussed. First, the relationships between muscle force and end-point motion are derived by defining two kinds of Jacobian matrices. Then it is shown that the motor impedance allows not only the end-point displacement but also the end-point velocity and acceleration to be transformed into the joint and muscle coordinates.<>
Keywords
biomechanics; kinematics; matrix algebra; muscle; Jacobian matrices; inverse kinematics; kinematic redundancies; motor impedance; muscle force; musculoskeletal systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Engineering in Medicine and Biology Society, 1988. Proceedings of the Annual International Conference of the IEEE
Conference_Location
New Orleans, LA, USA
Print_ISBN
0-7803-0785-2
Type
conf
DOI
10.1109/IEMBS.1988.94811
Filename
94811
Link To Document