Hierarchical feedback and learning for multi-joint arm movement control

被引：0

作者：

Li, Weiwei ^{[1
]}

Todorov, Emanuel ^{[1
]}

Pan, Xiuchuan ^{[1
]}

机构：

[1] Univ Calif San Diego, Dept Mech & Aerosp Engn, La Jolla, CA 92093 USA

来源：

2005 27TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-7 | 2005年

关键词：

D O I：

暂无

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

This paper presents a general method for hierarchical feedback control of redundant systems, and applies it to the problem of arm movement control. A high-level feedback controller, designed using optimal control techniques, operates on a simplified virtual plant. A low-level controller is responsible for performing a feedback transformation of the physical plant into the desired virtual plant. The method is applied in the context of reaching with two realistic models of the human arm: a 2-DOF, 6-muscle model, and a 7-DOF, 14-muscle model. Simulation results demonstrate the effectiveness of the proposed scheme.

引用

页码：4400 / 4403

页数：4

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