In this work we present the first constrained stochastic optimal feedback controller applied to a fully nonlinear, tendon driven index finger model. Our model also takes into account an extensor mechanism, and muscle force-length and force-velocity properties. We show this feedback controller is robust to noise and perturbations to the dynamics, while successfully handling the nonlinearities and high dimensionality of the system. By extending prior methods, we are able to approximate physiological realism by ensuring positivity of neural commands and tendon tensions at all times.
- Bioengineering Division
A First Optimal Control Solution for a Complex, Nonlinear, Tendon Driven Neuromuscular Finger Model
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Theodorou, EA, Todorov, E, & Valero-Cuevas, FJ. "A First Optimal Control Solution for a Complex, Nonlinear, Tendon Driven Neuromuscular Finger Model." Proceedings of the ASME 2010 Summer Bioengineering Conference. ASME 2010 Summer Bioengineering Conference, Parts A and B. Naples, Florida, USA. June 16–19, 2010. pp. 445-446. ASME. https://doi.org/10.1115/SBC2010-19628
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