Simulation of hand grasp control by force and position feedback

Author

Liu, Like ; Crago, Patrick E.

Author_Institution

Dept. of Biomed. Eng., Case Western Reserve Univ., Cleveland, OH, USA

fYear

1988

fDate

4-7 Nov. 1988

Firstpage

1641

Abstract

A computer simulation of hand grasp control by force and position feedback has been implemented with a digital controller and a discrete-time muscle model. The simulated system consists of a stiffness controller, a pulse-width activation controller, a coactivation map, a flexor and an extensor muscle, and separate internal and external loads. The measured feedback quantities are the position and the contact force between the digit and the external load. In clinical use, the control system must perform well under a wide range of external loads and be robust to variation in muscle properties. The simulation is being used to study the system performance and to optimize tuning procedures to be used in the clinical setting.<>

Keywords

biocontrol; biomechanics; digital simulation; feedback; clinical setting; coactivation map; digit; digital controller; discrete-time muscle model; extensor muscle; external load; flexor muscle; force feedback; hand grasp control simulation; internal load; muscle properties variation; position feedback; stiffness controller; system performance; tuning procedures optimisation;

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.1988.94824

Filename

94824