Title :
Motor impedance and inverse kinematics in musculoskeletal systems
Author :
Ito, Koji ; Tsuji, Toshio ; Nagamachi, Mitsuo
Author_Institution :
Fac. of Eng., Hiroshima Univ., Japan
Abstract :
A method for resolving kinematic redundancies of musculoskeletal systems is discussed. First, the relationships between muscle force and end-point motion are derived by defining two kinds of Jacobian matrices. Then it is shown that the motor impedance allows not only the end-point displacement but also the end-point velocity and acceleration to be transformed into the joint and muscle coordinates.<>
Keywords :
biomechanics; kinematics; matrix algebra; muscle; Jacobian matrices; inverse kinematics; kinematic redundancies; motor impedance; muscle force; musculoskeletal systems;
Conference_Titel :
Engineering in Medicine and Biology Society, 1988. Proceedings of the Annual International Conference of the IEEE
Conference_Location :
New Orleans, LA, USA
Print_ISBN :
0-7803-0785-2
DOI :
10.1109/IEMBS.1988.94811
