The dynamics and control of a planar articulating segmental model

A planar model of the human forearm complex is presented. The upper arm (humerus) is fixed in a position parallel to the body and the forearm (radius and ulna) is free to move in the sagittal plane. Two Hill-type actuators drive the motion of the forearm. These actuators represent flexors and extensors of the forearm. A stability analysis about a nominal trajectory is performed. A feedback scheme for stabilization is developed by using the linear quadratic regulator method. Finally, questions are answered concerning the role of muscle feedback during skeletal movements by analyzing the feedback gains.