Extraction and Implementation of Muscle Synergies in Hand-Force Control
The need of solving the problem of multi-degreesof- freedom in motor control is increasing as human-like robots become more popular these days. Muscle synergies hypothesis is a prominent suggestion for this problem. In this paper, we investigated the muscle synergies extracted from human subjects in a producing-force task to explore the mechanism of the human’s skillful hand-movement at producing force while manipulating objects. We observed a high correlation estimation of the muscle synergies with the hand force, and derived a role division of muscle synergies in generating the hand force as well. These results give an optimal but simple way to control robots so as to make the robots’ movement as skillful as human’s. To verify this idea, we proposed “synergy based control method using the characteristics of human’s muscle synergies observed, and tested it on a pneumatic-driven armrobot whose structure assumes the human arm’s. The program is in its first stage to control the robot.
Hang T.T. Pham Mariko Kimura Hiroaki Hirai Fumio Miyazaki
Department of Mechanical Science and Bioengineering,Graduate School of Engineering Science,Osaka University,Japan
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3658-3663
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）