OPTIMIZATION OF STIFFNESS AND DAMPING IN MODELING OF VOLUNTARY ELBOW FLEXIONS

摘要

A subsequent study of obstructed voluntary arm movement extended the relative damping concept, and incorporated the influential factors of the mechanical behavior of the neural, muscular and skeletal system in the control and coordination of arm posture and movement. A significant problem of the study is how this information should be used to modify control signals to achieve desired performance. This study used an Equilibrium Point Hypothesis (EPH) model to examine changes of controlling signals for arm movements in the context of adding perturbation/load in the form of forces/torques. The mechanical properties and reflex actions of muscles of the elbow joint were examined. Brief unexpected torque/force pulses of identical magnitude and time duration were introduced at different stages of the movement in a random order by a pre-programmed 3 degree of freedom (DOF) robotic arm (MOOG FCS HapticMaster). Key to this research is the optimization of B and K for each subject based on their HM only experimental data. The results shown in each of sections confirm that those parameters. Along with an EMG determined VT can be used successfully to model the perturbed trials. The results also show that the subjects may maintain the same control parameters (virtual trajectory, stiffness and damping) regardless of added perturbations that cause substantial changes in EMG activity and kinematics.