Sensibility to muscular arrangement of feedforward position control for non-pulley-musculoskeletal system

Abstract

This paper studies the feedforward position control induced by the redundancy in a non-pulley-musculoskeletal system. Targeting a planar two-link musculoskeletal system with six muscles as a case study, the motion convergence depending on the muscular arrangement is examined. The results indicate that the motion convergence is extremely sensitive to the muscular arrangement and that adding small offsets for the points of muscle connection can remarkably improve the positioning performance. © 2013 Springer Science+Business Media Dordrecht.