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Reference TypeJournal Article
Author(s)Theodorou, E. A., Todorov, E. , Valero-Cuevas, F.
TitleA first optimal control solution for a complex, nonlinear, tendon driven neuromuscular finger model
Journal/Conference/Book TitleProceedings of the ASME 2010 Summer Bioengineering Conference August 30-September 2, 2010, Naples, Florida, USA
AbstractIn this work we present the first constrained stochastic op- timal feedback controller applied to a fully nonlinear, tendon driven index finger model. Our model also takes into account an extensor mechanism, and muscle force-length and force-velocity properties. We show this feedback controller is robust to noise and perturbations to the dynamics, while successfully handling the nonlinearities and high dimensionality of the system. By ex- tending prior methods, we are able to approximate physiological realism by ensuring positivity of neural commands and tendon tensions at all timesthus can, for the first time, use the optimal control framework to predict biologically plausible tendon tensions for a nonlinear neuromuscular finger model. METHODS 1 Muscle Model The rigid-body triple pendulum finger model with slightly viscous joints is actuated by Hill-type muscle models. Joint torques are generated by the seven muscles of the index fin-
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