肌肉驱动系统具有冗余分辨率的反步控制
Backstepping Control of Muscle Driven Systems with Redundancy Resolution
摘要：
由于人机交互（HMI）的多种应用，该领域的研究已成为近年来最热门的领域之一。例如，先进的训练机器、康复机器人、机器人手术和假肢就是这种情况。为了确保理想的性能，建议在实时实验之前进行模拟。这些模拟在机器一侧的HMI中没有问题。然而，人类动态模型的控制器的缺乏表明存在的差距，为人类方面进行模拟。本文提出了一种新的方法，基于反馈控制器的肌肉驱动系统的动力学，以满足以前的差距。该方法已被开发用于具有冗余肌肉分辨率的系统的轨迹跟踪。为了说明该方法的有效性，使用了由八个连杆、八块肌肉和三个自由度组成的组驱动的肩部模型。控制器的目标是通过肌肉激活将手臂从一个静态位置移动到另一个位置。本文的结果显示了手臂运动，肌肉骨骼动力学和肌肉激活的成就。
英文摘要：
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.
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