DocumentCode
1011373
Title
What are the advantages of variable stiffness control?
Author
Bennett, D.J.
Author_Institution
Dept. of Brain & Cognitive Sci., MIT, Cambridge, MA, USA
Volume
11
Issue
4
fYear
1992
Firstpage
86
Lastpage
87
Abstract
Summary form only given. The role of stiffness modulation in limb movement control is discussed in light of recent measurements of the stiffness of the human elbow joint during free movement. The stiffness is found to be low during movement, in comparison to the stiffness measured under isometric conditions. Since reflexes and muscle co-activation determine the total stiffness, utilizing a low stiffness minimizes the danger of instability arising from feedback delays and the energy required for co-activation.<>
Keywords
biocontrol; biomechanics; elasticity; feedback delays; free movement; human elbow joint; human elbow joint stiffness; instability danger minimization; isometric conditions; muscle coactivation; reflexes; stiffness modulation; Centralized control; Control systems; Muscles; Optimal control; Weight control;
fLanguage
English
Journal_Title
Engineering in Medicine and Biology Magazine, IEEE
Publisher
ieee
ISSN
0739-5175
Type
jour
DOI
10.1109/51.257014
Filename
257014
Link To Document