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Proceedings Paper

Optimal control model of arm configuration in a reaching task
Author(s): Gary T. Yamaguchi; Ali Kakavand
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Paper Abstract

It was hypothesized that the configuration of the upper limb during a hand static positioning task could be predicted using a dynamic musculoskeletal model and an optimal control routine. Both rhesus monkey and human upper extremity models were formulated, and had seven degrees of freedom (7-DOF) and 39 musculotendon pathways. A variety of configurations were generated about a physiologically measured configuration using the dynamic models and perturbations. The pseudoinverse optimal control method was applied to compute the minimum cost C at each of the generated configurations. Cost function C is described by the Crowninshield-Brand (1981) criterion which relates C (the sum of muscle stresses squared) to the endurance time of a physiological task. The configuration with the minimum cost was compared to the configurations chosen by one monkey (four trials) and by eight human subjects (eight trials each). Results are generally good, but not for all joint angles, suggesting that muscular effort is likely to be one major factor in choosing a preferred static arm posture.

Paper Details

Date Published: 30 May 1996
PDF: 12 pages
Proc. SPIE 2718, Smart Structures and Materials 1996: Smart Sensing, Processing, and Instrumentation, (30 May 1996); doi: 10.1117/12.240894
Show Author Affiliations
Gary T. Yamaguchi, Arizona State Univ. (United States)
Ali Kakavand, Neurosciences Institute (United States)

Published in SPIE Proceedings Vol. 2718:
Smart Structures and Materials 1996: Smart Sensing, Processing, and Instrumentation
Kent A. Murphy; Dryver R. Huston, Editor(s)

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