Dariush B, Parnianpour M, Hemami H
Department of Electrical Engineering, Ohio State University, Columbus 43210-1272, USA.
IEEE Trans Biomed Eng. 1998 Jan;45(1):3-14. doi: 10.1109/10.650346.
This paper introduces a relegated control strategy for point-to-point movement of musculoskeletal systems driven by redundant actuators. The actuator system is partitioned to two functional groupings referred to as gravity compensators and movement generators. Unlike dynamic optimization methods, relegation of control enables real-time computation of control signals to the muscle actuators. It is shown that this strategy significantly reduces the degree of coactivation needed to stabilize the movement. The real-time nature of this strategy coupled with reduced coactivation makes the proposed strategy amenable for multichannel control of parapalegics through functional electrical stimulation. Stimulations of a three-link sagittal system are conducted to test the algorithm for a bowing movement.
本文介绍了一种用于由冗余致动器驱动的肌肉骨骼系统点对点运动的降级控制策略。致动器系统被划分为两个功能组，即重力补偿器和运动发生器。与动态优化方法不同，控制的降级使得能够实时计算肌肉致动器的控制信号。结果表明，该策略显著降低了稳定运动所需的共同激活程度。该策略的实时特性以及共同激活的降低使得所提出的策略适用于通过功能性电刺激对截瘫患者进行多通道控制。对一个三连杆矢状面系统进行刺激，以测试用于鞠躬运动的算法。
