ヒトの筋の粘弾性変化の推定 : モデルによるシミュレーション

Abstract

One approach to realize a compliant manipulation robot is a impedance control. In the impedance control a damping and an elasticity coefficients of the robot joints are selected as a desired value. Incidentally, human arm seems to achieve compliant motion by continuous regulation of the muscle viscos frictional coefficient and elasticity coefficient. To estimate the visco-elasticity change of the muscle, we carried out some tracking experiments on the human wrist joint and some simulations for neuro-muscular system model with elastic environment. Then we came to a conclution that the muscle visco-elasticity increases with the muscle activity. We think that the dynamics of the compliant manipulation robot must be controlled by the regulation of their joint visco-elasticity continuously.