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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.
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
Online publication date: 02/01/2017
Acceptance date: 02/04/2016
Publisher: IEEE Computer Society
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