Study of Human Forearm Posture Maintenance with a Physiologically Based Robotic Arm and Spinal Level Neural Controller

Chou, C.P. and Hannaford, B. (1997) Study of Human Forearm Posture Maintenance with a Physiologically Based Robotic Arm and Spinal Level Neural Controller. Biological Cybernetics, 76. pp. 285-298.

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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.

Item Type: Article
Subjects: B Teleoperation > B Teleoperation (General)
Depositing User: Junjie Yan
Date Deposited: 09 Jul 2015 23:50
Last Modified: 09 Jul 2015 23:50
URI: http://brl.ee.washington.edu/eprints/id/eprint/139

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