Predictive Simulation of Reaching Moving Targets Using Nonlinear Model Predictive Control.

摘要: This article investigates the application of optimal feedback control to trajectory planning in voluntary human arm movements. A nonlinear model predictive controller (NMPC) with a finite prediction horizon was used as predict hand and execution planar reaching tasks. The NMPC is completely predictive, motion tracking or electromyography data are not required obtain limb trajectories. To present this concept, two degree freedom musculoskeletal actuated by three pairs antagonist muscles simulate dynamics. study based on assumption that nervous system minimizes muscular effort during goal-directed effects length trajectory, velocity profile muscle activities task presented. predictions reach fixed moving targets good agreement trajectories found dynamic optimization those from experiments. However, activations predicted did agree well experiments optimization.