CONTROL PROPERTIES INDUCED BY THE EXISTENCE OF ANTAGONISTIC PAIRS OF BIARTICULAR MUSCLES - MECHANICAL-ENGINEERING MODEL ANALYSES

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 e quipped with pneumatic artificial rubber actuators. The previously rep orted EMG patterns of human movements were well explained from activat ing level patterns of the actuators in terms of mechanical control eng ineering. Results obtained in the present studies strongly suggest tha t the existence of the antagonistic pair of bi-articular muscles could positively contribute to the compliant properties of the multi-articu lar extremity, and to independently control position and force at the endpoint of the extremity, leading to smooth, fine and precise movemen ts.