Title :
Motor impedance transformation in multi-joint arm movements
Author :
Tsuji, Toshio ; Ito, Koji ; Nagamachi, Mitsuo
Author_Institution :
Fac. of Eng., Hiroshima Univ., Japan
Abstract :
The authors propose a method to transform the motor impedance from the end-point into the joint. The central nervous system regulates the mechanical impedance of the end-point through the muscle and joint, which requires this kind of transformation of the motor impedance. It is shown that the redundancy of the musculoskeletal system allows selection of the impedance of each joint in order to maintain a specified end-joint impedance.<>
Keywords :
biocontrol; biomechanics; force control; muscle; neurophysiology; physiological models; position control; central nervous system; end-point; mechanical impedance; motor impedance transformation; multi-joint arm movements; muscle; musculoskeletal system;
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.1988.94795
