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Related Experiment Videos

Paraplegic standing controlled by functional neuromuscular stimulation: Part II--Computer simulation studies.

G Khang, F E Zajac

    IEEE Transactions on Bio-Medical Engineering
    |September 1, 1989
    PubMed
    Summary

    This study simulated body motion control, finding that an output-feedback control law effectively restores upright posture and maintains balance during arm movements. A simplified muscle activation scheme was developed for practical, energy-efficient control.

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    Area of Science:

    • Biomechanics
    • Robotics
    • Control Systems Engineering

    Background:

    • Humanoid robots require sophisticated control systems for balance and motion.
    • Previous work established an output-feedback control law for body posture.
    • External disturbances, like arm movements, challenge postural stability.

    Purpose of the Study:

    • To evaluate an output-feedback control law for postural stability during simulated body motion.
    • To investigate muscle activation patterns based on energy minimization.
    • To develop a computationally efficient control scheme for practical applications.

    Main Methods:

    • Simulated two types of body motion: initial perturbation and arm movements.
    • Applied an output-feedback control law to drive body segments to a standing position.

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  • Analyzed muscle activation patterns using static optimization and energy minimization principles.

    • Main Results:

    • The control law successfully recovered upright posture from a flexed position and maintained stability during arm movements.
    • Identified three energy-minimizing muscle activation patterns: no coactivation of antagonists, recruitment of strong before weak muscles, and fast before slow muscles.
    • Static optimization proved computationally intensive for real-time application.

    Conclusions:

    • The output-feedback control law demonstrates robust performance in maintaining postural stability.
    • A simpler, suboptimal activation-distribution scheme provides near-identical performance with significantly reduced computational cost.
    • This simplified scheme offers a practical solution for energy-efficient robotic control.