---
_id: '1194'
abstract:
- lang: eng
text: " The development of robot joints ensuring controllable compliant
behaviors during interaction tasks has gained the interest of the robot community
in the recent years. In biological systems, while intrinsic muscle nonlinear elasticity
allows the regulation of joint compliance through antagonistic co-activation,
physiological control mechanisms ensure robust stability during interaction tasks
both in static cases and during motion. This work presents a novel control approach
for the simultaneous regulation of position and stiffness in a hinge joint driven
by two muscles which combines biological findings like co-activation and reproduces
reflex actions and additional influences to ensure stability. Based on the analysis
of the stiffness generated in the antagonistic system and on the evaluation of
stability issues when the musculoskeletal setup is loaded by external forces,
a stiffness controller is proposed which integrates a stiffness computation block
and an adaptive mechanism for the control of stability during interactions. The
position controller, modeling physiological properties and motor-neurons, relies
on reciprocal activation while the stiffness controller implements a co-activation
strategy. The controller is tested in a numerical simulation using Matlab/Simulink®
for different task conditions. Simulation results demonstrate the ability of the
controller to simultaneously regulate position and adapt joint compliance to different
external perturbations.\r\n "
author:
- first_name: Salvatore
full_name: Annunziata, Salvatore
last_name: Annunziata
- first_name: Axel
full_name: Schneider, Axel
id: '213480'
last_name: Schneider
orcid: 0000-0002-6632-3473
orcid_put_code_url: https://api.orcid.org/v2.0/0000-0002-6632-3473/work/94914529
citation:
alphadin: 'Annunziata, Salvatore ;
Schneider, Axel: Physiologically
Based Control Laws Featuring Antagonistic Muscle Co-Activation for Stable Compliant
Joint Drives. In: Applied Bionics and Biomechanics Bd. 9, Hindawi Limited
(2012), Nr. 3, S. 249–266'
ama: Annunziata S, Schneider A. Physiologically Based Control Laws Featuring Antagonistic
Muscle Co-Activation for Stable Compliant Joint Drives. Applied Bionics and
Biomechanics. 2012;9(3):249-266. doi:10.1155/2012/503818
apa: Annunziata, S., & Schneider, A. (2012). Physiologically Based Control Laws
Featuring Antagonistic Muscle Co-Activation for Stable Compliant Joint Drives.
Applied Bionics and Biomechanics, 9(3), 249–266. https://doi.org/10.1155/2012/503818
bibtex: '@article{Annunziata_Schneider_2012, title={Physiologically Based Control
Laws Featuring Antagonistic Muscle Co-Activation for Stable Compliant Joint Drives},
volume={9}, DOI={10.1155/2012/503818},
number={3}, journal={Applied Bionics and Biomechanics}, publisher={Hindawi Limited},
author={Annunziata, Salvatore and Schneider, Axel}, year={2012}, pages={249–266}
}'
chicago: 'Annunziata, Salvatore, and Axel Schneider. “Physiologically Based Control
Laws Featuring Antagonistic Muscle Co-Activation for Stable Compliant Joint Drives.”
Applied Bionics and Biomechanics 9, no. 3 (2012): 249–66. https://doi.org/10.1155/2012/503818.'
ieee: S. Annunziata and A. Schneider, “Physiologically Based Control Laws Featuring
Antagonistic Muscle Co-Activation for Stable Compliant Joint Drives,” Applied
Bionics and Biomechanics, vol. 9, no. 3, pp. 249–266, 2012.
mla: Annunziata, Salvatore, and Axel Schneider. “Physiologically Based Control Laws
Featuring Antagonistic Muscle Co-Activation for Stable Compliant Joint Drives.”
Applied Bionics and Biomechanics, vol. 9, no. 3, Hindawi Limited, 2012,
pp. 249–66, doi:10.1155/2012/503818.
short: S. Annunziata, A. Schneider, Applied Bionics and Biomechanics 9 (2012) 249–266.
date_created: 2021-06-03T19:35:30Z
date_updated: 2023-05-29T16:12:32Z
doi: 10.1155/2012/503818
intvolume: ' 9'
issue: '3'
language:
- iso: eng
license: https://creativecommons.org/licenses/by/3.0/
page: 249-266
project:
- _id: beb248c8-cd75-11ed-b77c-e432b4711f7b
name: Institut für Systemdynamik und Mechatronik
publication: Applied Bionics and Biomechanics
publication_identifier:
eissn:
- 1754-2103
issn:
- 1176-2322
publication_status: published
publisher: Hindawi Limited
quality_controlled: '1'
status: public
title: Physiologically Based Control Laws Featuring Antagonistic Muscle Co-Activation
for Stable Compliant Joint Drives
tmp:
image: /images/cc_by.png
legal_code_url: https://creativecommons.org/licenses/by/3.0/legalcode
name: Creative Commons Attribution 3.0 Unported (CC BY 3.0)
short: CC BY (3.0)
type: journal_article
user_id: '213480'
volume: 9
year: '2012'
...