Periodic Motion Control of Human Arm Movement Based on CPG model

Abstract

In this paper, a Central Pattern Generator (CPG) model of a flexor and an extensor is developed, according to the experiments implemented in a crank-rotation task. The drive torque which achieved the arm movement is obtained by six muscles models consisted of outputs of the CPG model. The parameters of CPG model is optimized by minimum torque-change criterion and genetic algorithm. Finally, the simulation results are compared with to the experimental data and the CPG model of six muscles are discussed.