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Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: II. Experimental evidence for three equilibrium-point-based synergies during human pedaling

Lookup NU author(s): Professor Hermano Krebs


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© 2016 IEEE. Developing a musculoskeletal robot with multiple muscles is important for not only establishing a novel robot that achieves coordination with a human but also in understanding the framework of motor control in the human body. Our pioneering work proposed a biologically inspired control framework for multiple redundant muscles; however, very few practical results have been reported on controlling a musculoskeletal robot. This study focused on confirming the usability of the proposed biologically inspired control framework, which is referred to as equilibrium-point (EP)-based synergyies and is expressed by the activation balance of agonist-antagonist muscle pairs. Electromyography data obtained from the pedaling task of five subjects were analyzed based on the concept of the EP-based synergies, and were then used to control the musculoskeletal lower limb robot. Three EP-based synergies obtained from all the five subjects indicated that the musculoskeletal robot achieved forward pedaling. This indicates the utility of the EP-based synergies as well as the modularity of motor control in humans.

Publication metadata

Author(s): Watanabe E, Oku T, Hirai H, Yoshikawa F, Nagakawa Y, Kuroiwa A, Grabke EP, Uemura M, Miyazaki F, Krebs HI

Publication type: Conference Proceedings (inc. Abstract)

Publication status: Published

Conference Name: IEEE-RAS International Conference on Humanoid Robots

Year of Conference: 2016

Pages: 1167-1172

Online publication date: 02/01/2017

Acceptance date: 02/04/2016

Publisher: IEEE Computer Society


DOI: 10.1109/HUMANOIDS.2016.7803418

Library holdings: Search Newcastle University Library for this item

ISBN: 9781509047185