论文标题
对具有冗余分辨率的肌肉驱动系统的反向替代控制
Backstepping Control of Muscle Driven Systems with Redundancy Resolution
论文作者
论文摘要
由于人机相互作用（HMI）的多种应用，这一研究领域已成为近年来最受欢迎的领域之一。例如，高级培训机器，用于康复的机器人，机器人手术和假体。为了确保表现出色，建议在实时实验之前进行仿真。这些模拟在机器侧的HMI中并不是问题。但是，缺乏人类动态模型的控制器表明存在用于对人侧进行模拟的差距。本文通过引入基于针对肌肉驱动系统动力学的反馈控制器引入新方法来实现以前的差距。已开发出该方法用于冗余肌肉分辨率的系统的轨迹跟踪。为了说明该方法的验证，使用了一个由八组连接，八个肌肉和三个自由度的组引起的肩部模型。控制器目标是通过肌肉激活将手臂从静态位置移到另一个位置。本文的结果表明，手臂运动，肌肉骨骼动力学和肌肉激活的成就。
Due to the several applications on Human-machine interaction (HMI), this area of research has become one of the most popular in recent years. This is the case for instance of advanced training machines, robots for rehabilitation, robotic surgeries and prosthesis. In order to ensure desirable performances, simulations are recommended before real-time experiments. These simulations have not been a problem in HMI on the side of the machine. However, the lack of controllers for human dynamic models suggests the existence of a gap for performing simulations for the human side. This paper offers to fulfill the previous gap by introducing a novel method based on a feedback controller for the dynamics of muscle-driven systems. The approach has been developed for trajectory tracking of systems with redundancy muscle resolution. To illustrate the validation of the method, a shoulder model actuated by a group of eight linkages, eight muscles and three degrees of freedom was used. The controller objective is to move the arm from a static position to another one through muscular activation. The results on this paper show the achievement of the arm movement, musculoskeletal dynamics and muscle activations.
