Optimal control model of arm configuration in a reaching task

Gary T. Yamaguchi; Ali Kakavand

doi:10.1117/12.240894

30 May 1996 Optimal control model of arm configuration in a reaching task

Gary T. Yamaguchi, Ali Kakavand

Proceedings Volume 2718, Smart Structures and Materials 1996: Smart Sensing, Processing, and Instrumentation; (1996) https://doi.org/10.1117/12.240894
Event: 1996 Symposium on Smart Structures and Materials, 1996, San Diego, CA, United States

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.

Citation Download Citation

Gary T. Yamaguchi and Ali Kakavand "Optimal control model of arm configuration in a reaching task", Proc. SPIE 2718, Smart Structures and Materials 1996: Smart Sensing, Processing, and Instrumentation, (30 May 1996); https://doi.org/10.1117/12.240894

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