Applied Bionics and Biomechanics, Volume (2021), No (1), Year (2021-4) , Pages (1-10)

Title : ( The Optimal Adaptive-Based Neurofuzzy Control of the 3-DOF Musculoskeletal System of Human Arm in a 2D Plane )

Authors: Amin Valizadeh , Ali Akbar Akbari ,

Citation: BibTeX | EndNote

Abstract

Each individual performs different daily activities such as reaching and lifting with his hand that shows the mportant role of robots designed to estimate the position of the objects or the muscle forces. Understanding he body’s musculoskeletal system’s learning control mechanism can lead us to develop a robust control echnique that can be applied to rehabilitation robotics. The musculoskeletal model of the human arm used in his study is a 3-link robot coupled with 6 muscles which a neurofuzzy controller of TSK type along multicritic gents is used for training and learning fuzzy rules. The adaptive critic agents based on reinforcement learning versees the controller’s parameters and avoids overtraining. The simulation results show that in both states of ith/without optimization, the controller can well track the desired trajectory smoothly and with acceptable ccuracy. The magnitude of forces in the optimized model is significantly lower, implying the controller’s correct operation. Also, links take the same trajectory with a lower overall displacement than that of the nonoptimized mode, which is consistent with the hand’s natural motion, seeking the most optimum trajectory.

Keywords

, Musculoskeletal System, Human Arm, Adaptive-Based, Neurofuzzy Control
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@article{paperid:1086946,
author = {Valizadeh, Amin and Akbari, Ali Akbar},
title = {The Optimal Adaptive-Based Neurofuzzy Control of the 3-DOF Musculoskeletal System of Human Arm in a 2D Plane},
journal = {Applied Bionics and Biomechanics},
year = {2021},
volume = {2021},
number = {1},
month = {April},
issn = {1176-2322},
pages = {1--10},
numpages = {9},
keywords = {Musculoskeletal System; Human Arm; Adaptive-Based; Neurofuzzy Control},
}

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%0 Journal Article
%T The Optimal Adaptive-Based Neurofuzzy Control of the 3-DOF Musculoskeletal System of Human Arm in a 2D Plane
%A Valizadeh, Amin
%A Akbari, Ali Akbar
%J Applied Bionics and Biomechanics
%@ 1176-2322
%D 2021

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