Simulation studies were performed to evaluate the effectiveness of different control schemes in stabilizing a multi-jointed limb (human arm) in response to force perturbations. The mechanical properties of the arm were modeled as a linear visco-elastic system and the effectiveness of negative feedback of angular position and torque was evaluated. The effectiveness of a given amount of position feedback depended strongly on the initial position of the arm and on the perturbation, while torque feedback was much more consistently effective in damping the motion of the limb.
Lacquaniti, F., Soechting, J. (1986). Simulation studies on the control of posture and movement in a multi-jointed limb. BIOLOGICAL CYBERNETICS, 54(6), 367-78.
Simulation studies on the control of posture and movement in a multi-jointed limb
LACQUANITI, FRANCESCO;
1986-01-01
Abstract
Simulation studies were performed to evaluate the effectiveness of different control schemes in stabilizing a multi-jointed limb (human arm) in response to force perturbations. The mechanical properties of the arm were modeled as a linear visco-elastic system and the effectiveness of negative feedback of angular position and torque was evaluated. The effectiveness of a given amount of position feedback depended strongly on the initial position of the arm and on the perturbation, while torque feedback was much more consistently effective in damping the motion of the limb.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
