Title :
Homeomorphic decomposition of the 6th order non-linear model of human movement
Author :
Hannaford, Blake
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
The sixth-order nonlinear model of human movement originally put forward by G. Cook and L. Stark (1968) has a long history of illuminating control problems associated with agonist-antagonist-based movement. It consists of muscle models of the agonist and antagonist which feature a nonlinear viscous element which stimulates A.V. Hill´s force-velocity property, and a linear second-order system representing the load of ´plant´ being driven, such as the eyeball, head, or arm. A new state-space formulation of the model combines homeomorphism (the property of isomorphism to physiology and anatomy) with mathematical elegance. The model is applied to the problem of control of fast voluntary human movements driven by a triphasic control signal.<>
Keywords :
biomechanics; physiological models; 6th order nonlinear model; A.V. Hill´s force-velocity property; agonist-antagonist-based movement; arm; eyeball; fast voluntary human movements; head; homeomorphic decomposition; human movement; linear second-order system; muscle models; nonlinear viscous element; state-space formulation; triphasic control signal;
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
DOI :
10.1109/IEMBS.1988.94854
