Stabilizing function of the musculoskeletal system for periodic motion

Yasuhiro Sugimoto, Shinya Aoi, Naomichi Ogihara, Kazuo Tsuchiya

研究成果: Article査読

8 被引用数 (Scopus)

抄録

Animals generate various motions by cooperatively manipulating their complicated and redundant musculoskeletal systems controlled by the nervous system. To reveal the mechanism with which a steady movement is generated, much research has been performed that shows that musculoskeletal properties themselves can stabilze motion without a sensory feedback system if the muscle architecture and the parallel elastic elements within a muscle are tuned appropriately. In this paper, we show that the condition of stability is greatly eased by limiting the targeted movement to the periodic motion. The force-velocity relationship, which is one of the most famous properties of muscle, plays a decisive role in realizing the self-stabilizing ability of the musculoskeletal system.

本文言語English
ページ(範囲)521-534
ページ数14
ジャーナルAdvanced Robotics
23
5
DOI
出版ステータスPublished - 2009 3月 1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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