Optimal control of a neuromusculoskeletal model: a second order sliding mode solutionReport as inadecuate




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1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

Abstract : The objective in neuromusculoskeletal simulation consists in finding a set of muscles excitations in order to produce the desired motion and is an exciting challenge for medical operators. In this paper, muscle excitations are computed by using a second order sliding mode controller which is optimal with respect of a functional cost based on the tracking error and the torque square. The proposed strategy was tested using a two-dimensional human anthropomorphic arm composed of two joints and six muscles.





Author: Carlos Rengifo - Franck Plestan - Yannick Aoustin -

Source: https://hal.archives-ouvertes.fr/



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