Novel reaction force control design based on bi-articular driving system using intrinsic muscle viscoelasticity

This paper suggests a novel reaction force control design of two-link manipulators based on a bi-articular driving system. Considering muscles´ viscoelasticity, the animal link model can control its reaction force against ground surface using a position feedback without a force feedback. To verify this characteristic, we explain the model of muscle and the animal link model. And then, the analogy between the force generating mechanism of muscle and a two degrees of freedom control is shown, and the intrinsic reaction force control of bi-articular driving system based on a position feedback is suggested. Finally, simulation results ensure this characteristic.