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[106] Citation: Abstract
The goals of this research are: 1) to apply knowledge of human
neuro-musculo-skeletal motion control to a biomechanically designed,
neural controlled, "anthroform" robotic arm system, 2) to demonstrate
that such a system is capable of responses that match those of the
human arm reasonably well in comparable experiments and 3) to utilize
the anthroform arm system to study some controversial issues and to
predict new phenomena of the human motion control system. A
physiologically analogous artificial neural network controller and an
anatomically accurate robotic testing elbow are applied in this study.
In order to build the physical elbow system to have mechanical
properties as close as possible to the human arm, McKibben pneumatic
artificial muscles, force sensors, and mechanical muscle spindles are
integrated in the system with anatomically accurate muscle attachment
points. A physiologically analogous, artificial neural network
controller is used to emulate the behavior of spinal segmental reflex
circuitry.
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Updated: Tue Jul 15 23:54:50 2008
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