Title :
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
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;
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
DOI :
10.1109/VSS.2008.4570682
