In a musculoskeletal system, the musculoskeletal potential method utilizes the potential property generated by the internal force between muscles; posture control can be achieved by the step input of muscular tension balancing at the desired posture. The remarkable aspect of this method is that neither sensory feedback nor complicated real-time calculation is required at all. However, previous studies addressed only point-to-point control as motion control. In other words, with the focus on the convergence to the desired posture, path tracking has not been discussed. Extending the previous studies, this paper proposes a path tracking control based on a sensorless feedforward approach. The proposed method first finds the optimal set of muscular forces that can form the potential field to the desired potential shape realizing the desired path; next, inputting the obtained muscular forces into the system achieves path tracking. For verification, this paper demonstrates a case study of a musculoskeletal system with two joints and six muscles. In this case study, a constrained nonlinear programming method is used to find the optimal muscular force, and the path trackability is verified by numerical simulation.

中文翻译：

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基于肌肉骨骼电位法的无传感器路径跟踪控制基础研究

在肌肉骨骼系统中，肌肉骨骼电位方法利用肌肉之间的内力产生的电位特性；姿势控制可以通过在所需姿势下的肌肉张力平衡的步进输入来实现。这种方法的显着之处在于，它既不需要感官反馈，也不需要复杂的实时计算。然而，以前的研究仅将点对点控制作为运动控制。换句话说，重点是收敛到所需的姿势，没有讨论路径跟踪。扩展以前的研究，本文提出了一种基于无传感器前馈方法的路径跟踪控制。所提出的方法首先找到一组最佳的肌肉力量，这些力量可以形成势场到期望的势能形状，从而实现期望的路径；下一个，将获得的肌肉力量输入系统，实现路径跟踪。为了验证，本文演示了一个具有两个关节和六个肌肉的肌肉骨骼系统的案例研究。在本案例研究中，使用约束非线性规划方法寻找最佳肌肉力，并通过数值模拟验证了路径跟踪能力。