Optimal control of a neuromusculoskeletal model: a second order sliding mode solution

Author

Rengifo, Carlos ; Plestan, Franck ; Aoustin, Yannick

Author_Institution

CNRS, Ecole Centrale de Nantes-Univ. de Nantes, Nantes

fYear

2008

fDate

8-10 June 2008

Firstpage

55

Lastpage

60

Abstract

The objective in neuromusculoskeletal simulation consists in finding a set of muscles excitations in order to produce the desired motion and is an exciting challenge for medical operators. In this paper, muscle excitations are computed by using a second order sliding mode controller which is optimal with respect of a functional cost based on the tracking error and the torque square. The proposed strategy was tested using a two-dimensional human anthropomorphic arm composed of two joints and six muscles.

Keywords

biocontrol; bone; muscle; neurophysiology; optimal control; variable structure systems; functional cost; medical operators; muscle excitations; neuromusculoskeletal model; optimal control; second order sliding mode solution; torque square; two-dimensional human anthropomorphic arm; Computational modeling; Cost function; Error correction; Humans; Medical simulation; Muscles; Optimal control; Sliding mode control; Testing; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Variable Structure Systems, 2008. VSS '08. International Workshop on

Conference_Location

Antalya

Print_ISBN

978-1-4244-2199-2

Electronic_ISBN

978-1-4244-2200-5

Type

conf

DOI

10.1109/VSS.2008.4570682

Filename

4570682