Abstract
ABSTRACT The proprioceptive sensory reflex (e.g. stretch reflex) plays an important role in perturbed arm stabilization. Neuroscience studies have widely identified the heteronymous spinal pathways in the human arm, which may contribute to stabilized movement. However, their interactions in living systems pose challenges for specific functional investigations through human experiments. Therefore, this paper concentrates on understanding the effects of two heteronymous pathways, specifically the transmission of monoarticular sensory feedback to innervate biarticular muscles, using the robot. We replicate specific reflex pathways on a 2-DoF musculoskeletal robot equipped with pneumatic artificial muscles. By adjusting the weights of pathways, which resemble human motor control, we evaluate our robot arm performance under the forearm and upper arm disturbances. The outcomes validate their effects on regulating biarticular muscle stimulation, resulting in more stable and coordinated end-effectory trajectories. These reflexive pathways provide insights into the mechanisms underlying human arm perturbations and stabilization. Additionally, the proposed bioinspired system with applicable reflex weights holds great potential in the adaptive response of musculoskeletal robots, guiding robotics researchers in controller design.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.