Extraction and implementation of muscle synergies in neuro-mechanical control of upper limb movement |
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Authors: | Hang Pham Yohei Ariga Kenta Tominaga Takanori Oku Kanna Nakayama Mitsunori Uemura |
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Affiliation: | 1. Department of Mechanical and Bioengineering, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka, Japan.miyazaki@me.es.osaka-u.ac.jp;3. Department of Mechanical and Bioengineering, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka, Japan. |
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Abstract: | This work faces the redundancy problem, a central concern in robotics, in a particular force-producing task by using muscle synergies to simplify the control. We extracted muscle synergies from human electromyograph signals and interpreted the physical meaning of the identified muscle synergies. Based on the human analysis results, we hypothesized a novel control framework that can explain the mechanism of the human motor control. The framework was tested in controlling a pneumatic-driven robotic arm to perform a reaching task. This control method, which uses only two synergies as manipulated variables for driving antagonistic pneumatic artificial muscles to generate desired movements, would be useful to deal with the redundancy problem; thus, suggesting a simple but efficient control for human-like robots to work safely and compliantly with humans. |
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Keywords: | muscle synergies PCA musculoskeletal robots motor control |
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