Stiffness control of leg mechanism imitating the motion control of human musculoskeletal system | IEEE Conference Publication | IEEE Xplore

Stiffness control of leg mechanism imitating the motion control of human musculoskeletal system


Abstract:

In this paper, we describe a leg mechanism that uses an embedded servomotor as an artificial muscle to model the human musculoskeletal system, and subsequently evaluate t...Show More

Abstract:

In this paper, we describe a leg mechanism that uses an embedded servomotor as an artificial muscle to model the human musculoskeletal system, and subsequently evaluate the biomechanics of the developed model. The leg mechanism model exhibited stiffness and motion control characteristics similar to theoretical properties, and the resultant stiffness characteristics were applied to accomplish both a contact task and positional control similar to human movement. Particular attention was paid to the motion stiffness characteristics from the perspective of biomechanics, and the results are expected to improve motion performance in future studies of robotic simulation of human movement.
Date of Conference: 27 September 2009 - 02 October 2009
Date Added to IEEE Xplore: 10 November 2009
CD:978-1-4244-5081-7

ISSN Information:

Conference Location: Toyama, Japan

References

References is not available for this document.