Model-Based Nonlinear Control of a Class of Musculoskeletal Systems

Raphael Stolpe; Yannick Morel

doi:10.23919/ACC55779.2023.10156647

Model-Based Nonlinear Control of a Class of Musculoskeletal Systems

Raphael Stolpe^*, Yannick Morel

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceeding › Academic › peer-review

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Abstract

The presented work addresses the motion control problem for a class of musculoskeletal systems, composed of the combination of a rigid multibody system (i.e. the skeletal part) subjected to efforts produced by a set of muscle-tendon complexes. A control law, prescribing the rate of change of muscle fiber activation, is proposed and shown to guarantee exponential convergence of skeletal joint angles to user-defined desired trajectories. Results of numerical simulations, for a simple two degree of freedom skeletal system actuated by five muscle-tendon complexes, illustrate efficacy of the approach.

Original language	English
Title of host publication	2023 American Control Conference (ACC)
Publisher	IEEE
Pages	3005-3011
Number of pages	7
ISBN (Electronic)	9798350328066
ISBN (Print)	9781665469524
DOIs	https://doi.org/10.23919/ACC55779.2023.10156647
Publication status	Published - 3 Jul 2023
Event	American Control Conference (ACC) - San Diego, United States Duration: 31 May 2023 → 2 Jun 2023 https://acc2023.a2c2.org/

Conference

Conference	American Control Conference (ACC)
Abbreviated title	ACC 2023
Country/Territory	United States
City	San Diego
Period	31/05/23 → 2/06/23
Internet address	https://acc2023.a2c2.org/

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10.23919/ACC55779.2023.10156647

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Cite this

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title = "Model-Based Nonlinear Control of a Class of Musculoskeletal Systems",

abstract = "The presented work addresses the motion control problem for a class of musculoskeletal systems, composed of the combination of a rigid multibody system (i.e. the skeletal part) subjected to efforts produced by a set of muscle-tendon complexes. A control law, prescribing the rate of change of muscle fiber activation, is proposed and shown to guarantee exponential convergence of skeletal joint angles to user-defined desired trajectories. Results of numerical simulations, for a simple two degree of freedom skeletal system actuated by five muscle-tendon complexes, illustrate efficacy of the approach.",

author = "Raphael Stolpe and Yannick Morel",

note = "Funding Information: This research has received funding from the European Union{\textquoteright}s Horizon 2020 Framework Programme for Research and Innovation under the Specific Grant Agreement No. 785907 (Human Brain Project SGA3). Funding Information: This research has received funding from the European Union's Horizon 2020 Framework Programme for Research and Innovation under the Specific Grant Agreement No. 785907 (Human Brain Project SGA3). Publisher Copyright: {\textcopyright} 2023 American Automatic Control Council.; American Control Conference (ACC), ACC 2023 ; Conference date: 31-05-2023 Through 02-06-2023",

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doi = "10.23919/ACC55779.2023.10156647",

language = "English",

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T1 - Model-Based Nonlinear Control of a Class of Musculoskeletal Systems

AU - Stolpe, Raphael

AU - Morel, Yannick

N1 - Funding Information: This research has received funding from the European Union’s Horizon 2020 Framework Programme for Research and Innovation under the Specific Grant Agreement No. 785907 (Human Brain Project SGA3). Funding Information: This research has received funding from the European Union's Horizon 2020 Framework Programme for Research and Innovation under the Specific Grant Agreement No. 785907 (Human Brain Project SGA3). Publisher Copyright: © 2023 American Automatic Control Council.

PY - 2023/7/3

Y1 - 2023/7/3

N2 - The presented work addresses the motion control problem for a class of musculoskeletal systems, composed of the combination of a rigid multibody system (i.e. the skeletal part) subjected to efforts produced by a set of muscle-tendon complexes. A control law, prescribing the rate of change of muscle fiber activation, is proposed and shown to guarantee exponential convergence of skeletal joint angles to user-defined desired trajectories. Results of numerical simulations, for a simple two degree of freedom skeletal system actuated by five muscle-tendon complexes, illustrate efficacy of the approach.

AB - The presented work addresses the motion control problem for a class of musculoskeletal systems, composed of the combination of a rigid multibody system (i.e. the skeletal part) subjected to efforts produced by a set of muscle-tendon complexes. A control law, prescribing the rate of change of muscle fiber activation, is proposed and shown to guarantee exponential convergence of skeletal joint angles to user-defined desired trajectories. Results of numerical simulations, for a simple two degree of freedom skeletal system actuated by five muscle-tendon complexes, illustrate efficacy of the approach.

U2 - 10.23919/ACC55779.2023.10156647

DO - 10.23919/ACC55779.2023.10156647

M3 - Conference article in proceeding

SN - 9781665469524

SP - 3005

EP - 3011

BT - 2023 American Control Conference (ACC)

PB - IEEE

T2 - American Control Conference (ACC)

Y2 - 31 May 2023 through 2 June 2023

ER -

Model-Based Nonlinear Control of a Class of Musculoskeletal Systems

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