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Article or book title, author's surname, DOI

Biologically adequate principles for control of human arm exoskeleton

A.A. Frolov1, E.V. Biryukova2, P.D. Bobrov3, A.K. Platonov4, V.E. Pryanichnikov5

research article Pages: 7-18

  1. 1 д.б.н., Институт высшей нервной деятельности и нейрофизиологии РАН, ФЭИ, Технический университет Остравы, Чешская Республика
  2. 2 к.ф.-м.н., Институт высшей нервной деятельности и нейрофизиологии РАН
  3. 3 Институт высшей нервной деятельности и нейрофизиологии РАН, ФЭИ, Технический университет Остравы, Чешская Республика
  4. 4 д.ф.-м.н., Институт прикладной математики им. М.В. Келдыша РАН
  5. 5 д.т.н., МГТУ «Станкин», Институт прикладной математики им. М.В. Келдыша РАН, Международная лаборатория «Сенсорика»
Keywords: central nervous systemexoskeletonneurorehabi¬litationneuroplasticitysynergy

Abstract

This paper describes two principles for motion control by the central nervous system: the first principle refers to the control of the moment of mascular forces in joints by feedback and the second refers to the principles of the formation of motor synergies: coordination of knuckle angles and moments of mascular forces in joints under the motion of multi-joint limbs. We discuss the possibilities of using these principles in the control of human arm exoskeleton.

How to cite

Фролов А.А., Бирюкова Е.В., Бобров П.Д., Платонов А.К., Пряничников В.Е. Биологически адекватные принципы управления экзоскелетоном руки человека // Информационно-измерительные и управляющие системы. 2013. № 4. С. 7–18.

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