Decision Method of Internal Force for Sensorless Positioning of Musculoskeletal System

Abstract

In a musculoskeletal structure, a set of internal force among muscles plays an important role. The internal force has the particular potential field. Using this property, we can control the position of a musculoskeletal system without any sensory feedback. However, the internal force can not be selected uniquely due to the muscular redundancy. This paper proposes a decision method of the internal force for the feed forward positioning. The usefulness of the proposed method is demonstrated through numeral analysis.