Extraction and implementation of muscle synergies in neuro-mechanical control of upper limb movement

摘要: This work faces the redundancy problem, a central concern in robotics, particular force-producing task by using muscle synergies to simplify control. We extracted from human electromyograph signals and interpreted physical meaning of identified synergies. Based on analysis results, we hypothesized novel control framework that can explain mechanism motor The was tested controlling pneumatic-driven robotic arm perform reaching task. method, which uses only two as manipulated variables for driving antagonistic pneumatic artificial muscles generate desired movements, would be useful deal with problem; thus, suggesting simple but efficient human-like robots safely compliantly humans.