Servo-motor control of human arm dinematics in virtual reality modeling

摘要

This paper discusses one aspect of a collaborative project to develop a "Virtual Arm Model" between the University of Delaware and LeTourneau University. The purpose of this project is to study the neural and biomechanical contributions to arm movement. To accomplish the larger task of developing a complete virtual arm model, we have utilized a computational musculotendon and skeletal model of the dman elbow joint (Gonzalez, et al., 1996) to predict movement profiles using only the electromyographic (EMC) signals of five primary muscles crossing the elbow joint. Testing and refinement of the complete computational elbow model is accomplished by relating experimental arm position and torque to predicted arm postion and torque. Precise arm positions and joint torque measurements are accmplished through the use of a controllable servo-motor integrated into an arm constraint as shown is figure 1.