Convergent Conditions of Feedforward Control for Musculoskeletal Systems with Multi 1-DOF Joints Driven by Monoarticular and Biarticular Muscles.

Muscles in the musculoskeletal system can only transmit forces in the tensile direction, thereby resulting in redundant actuation. This redundancy creates an internal force among the muscles. The musculoskeletal potential method uses a potential field generated by the internal force among muscles and performs a step input of the muscle tension balanced at the desired posture to achieve the point-to-point (PTP) position. This method is extremely simple and does not require any sensory feedback or complex real-time calculations, as long as the target muscle tension is achieved. However, it is known that convergence to a desired posture is strongly influenced by muscular arrangement. In a previous study, we limited our analysis to a specific structure with two joints and six musa desired posture. However, when the structure of the target system, number of joints, and number of musbe clarified using the previous method. In this study, method and verify the results through simulation.