Abstract des Autors

In order to reveal control properties induced by antagonistic pairs of bi-articular muscles, we performed theoretical simulation analyses as well as actual arm robotic analyses utilizing two-joint link models equipped with pneumatic artificial rubber actuators. The previously reported EMG patterns of human movements were well explained from activating level patterns of the actuators in terms of mechanical control engineering. Results obtained in the present studies strongly suggest that the existence of the antagonistic pair of bi-articular muscles could positively contribute to the compliant properties of the multiarticular extremity, and to independently control position and force at the endpoint of the extremity, leading to smooth, fine and precise movements. Verf.-Referat