@inproceedings{d6aabd836e4e4066a749ab3fce2eff1a,
title = "A neuromuscular-like model for robotic compliance control",
abstract = "The muscle-reflex mechanisms of primate limbs are studied and modeled so that robotic controls may benefit from the findings. An extensive body of experimental evidence indicates that velocity-dependent force responses of the neuromuscular system have a nonlinear damping effect proportional to a fractional power of velocity. This highly nonlinear viscosity may help limbs adapt to different loads and bring movements to graceful terminations. To explore the characteristics of this nonlinear damping property, a theoretical study using the phase-plane approach is presented. The effects of different loads, damping constants, and stiffnesses are analyzed and simulated. From the results of this phase-plane analysis, a muscle-reflex model is developed and proposed for robotic compliance control.",
author = "Wu, {Chi Haur} and Kuu-Young Young and Houk, {James C.}",
year = "1990",
month = may,
day = "13",
doi = "10.1109/ROBOT.1990.126283",
language = "English",
isbn = "0818620617",
series = "Proc 1990 IEEE Int Conf Rob Autom",
publisher = "Publ by IEEE",
pages = "1885--1890",
booktitle = "Proc 1990 IEEE Int Conf Rob Autom",
note = "Proceedings of the 1990 IEEE International Conference on Robotics and Automation ; Conference date: 13-05-1990 Through 18-05-1990",
}