Combined Feedback Feedforward Control of a 3-Link Musculoskeletal System Based on the Iterative Training Method

The investigation and study of the limbs, especially the human arm, have inspired a wide range of humanoid robots, such as movement and muscle redundancy, as a human motor system. One of the main issues related to musculoskeletal systems is the joint redundancy that causes no unique answer for each...

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Autores principales:	Amin Valizadeh, Ali Akbar Akbari
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi Limited 2021
Materias:	Medicine R
Acceso en línea:	https://doaj.org/article/e5a81c2d2a214aaf965a1b9a4db5030f
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spelling	oai:doaj.org-article:e5a81c2d2a214aaf965a1b9a4db5030f2021-11-22T01:11:37ZCombined Feedback Feedforward Control of a 3-Link Musculoskeletal System Based on the Iterative Training Method2314-614110.1155/2021/8701869https://doaj.org/article/e5a81c2d2a214aaf965a1b9a4db5030f2021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/8701869https://doaj.org/toc/2314-6141The investigation and study of the limbs, especially the human arm, have inspired a wide range of humanoid robots, such as movement and muscle redundancy, as a human motor system. One of the main issues related to musculoskeletal systems is the joint redundancy that causes no unique answer for each angle in return for an arm’s end effector’s arbitrary trajectory. As a result, there are many architectures like the torques applied to the joints. In this study, an iterative learning controller was applied to control the 3-link musculoskeletal system’s motion with 6 muscles. In this controller, the robot’s task space was assumed as the feedforward of the controller and muscle space as the controller feedback. In both task and muscle spaces, some noises cause the system to be unstable, so a forgetting factor was used to a convergence task space output in the neighborhood of the desired trajectories. The results show that the controller performance has improved gradually by iterating the learning steps, and the error rate has decreased so that the trajectory passed by the end effector has practically matched the desired trajectory after 1000 iterations.Amin ValizadehAli Akbar AkbariHindawi LimitedarticleMedicineRENBioMed Research International, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R
spellingShingle	Medicine R Amin Valizadeh Ali Akbar Akbari Combined Feedback Feedforward Control of a 3-Link Musculoskeletal System Based on the Iterative Training Method
description	The investigation and study of the limbs, especially the human arm, have inspired a wide range of humanoid robots, such as movement and muscle redundancy, as a human motor system. One of the main issues related to musculoskeletal systems is the joint redundancy that causes no unique answer for each angle in return for an arm’s end effector’s arbitrary trajectory. As a result, there are many architectures like the torques applied to the joints. In this study, an iterative learning controller was applied to control the 3-link musculoskeletal system’s motion with 6 muscles. In this controller, the robot’s task space was assumed as the feedforward of the controller and muscle space as the controller feedback. In both task and muscle spaces, some noises cause the system to be unstable, so a forgetting factor was used to a convergence task space output in the neighborhood of the desired trajectories. The results show that the controller performance has improved gradually by iterating the learning steps, and the error rate has decreased so that the trajectory passed by the end effector has practically matched the desired trajectory after 1000 iterations.
format	article
author	Amin Valizadeh Ali Akbar Akbari
author_facet	Amin Valizadeh Ali Akbar Akbari
author_sort	Amin Valizadeh
title	Combined Feedback Feedforward Control of a 3-Link Musculoskeletal System Based on the Iterative Training Method
title_short	Combined Feedback Feedforward Control of a 3-Link Musculoskeletal System Based on the Iterative Training Method
title_full	Combined Feedback Feedforward Control of a 3-Link Musculoskeletal System Based on the Iterative Training Method
title_fullStr	Combined Feedback Feedforward Control of a 3-Link Musculoskeletal System Based on the Iterative Training Method
title_full_unstemmed	Combined Feedback Feedforward Control of a 3-Link Musculoskeletal System Based on the Iterative Training Method
title_sort	combined feedback feedforward control of a 3-link musculoskeletal system based on the iterative training method
publisher	Hindawi Limited
publishDate	2021
url	https://doaj.org/article/e5a81c2d2a214aaf965a1b9a4db5030f
work_keys_str_mv	AT aminvalizadeh combinedfeedbackfeedforwardcontrolofa3linkmusculoskeletalsystembasedontheiterativetrainingmethod AT aliakbarakbari combinedfeedbackfeedforwardcontrolofa3linkmusculoskeletalsystembasedontheiterativetrainingmethod
_version_	1718418313965469696

Combined Feedback Feedforward Control of a 3-Link Musculoskeletal System Based on the Iterative Training Method

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