FEEDBACK GAINS FOR CORRECTING SMALL PERTURBATIONS TO STANDING POSTURE

被引：152

作者：

HE, JP

LEVINE, WS

LOEB, GE

机构：

[1] MIT,CTR BIOL INFORMAT PROC,CAMBRIDGE,MA 02139

[2] UNIV MARYLAND,DEPT ELECT ENGN,COLLEGE PK,MD 20742

[3] QUEENS UNIV,BIOMED UNIT,KINGSTON K7L 3NG,ONTARIO,CANADA

[4] PRINCETON UNIV,DEPT MECH & AEROSP ENGN,PRINCETON,NJ 08544

[5] MIT,ARTIFICIAL INTELLIGENCE LAB,CAMBRIDGE,MA 02139

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1991年 / 36卷 / 03期

关键词：

D O I：

10.1109/9.73565

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A dynamical model of the neuro-musculo-skeletal mechanics of a cat hindlimb has been developed to investigate the feedback regulation of standing posture under small perturbations. The model is a three-joint limb, moving only in the sagittal plane, driven by 10 musculotendon actuators, each having response dynamics dependent on activation kinetics and muscle kinematics. Under small perturbations, the nonlinear postural regulation mechanism is approximately linear. Sensors exist which could provide state feedback. Thus, the linear quadratic regulator is proposed as a model for the structure of the feedback controller for regulation, of small perturbations. System states are chosen to correspond to the known outputs of physiological sensors: muscle forces (sensed by tendon organs), a combination of muscle lengths and velocities (sensed by spindle organs), joint angles and velocities (sensed by joint receptors), and motoneuron activities (sensed by Renshaw cells). Thus, the feedback gain matrices computed can be related to the spinal neural circuits. Several proposals for control strategy have been tested under this formulation. It is shown that a strategy of regulating all the states leads to controllers that best mimic the externally measured behavior of real cats.

引用

页码：322 / 332

页数：11

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