Neural compensation, muscle load distribution and muscle function in control of biped models

Three aspects of the neuromuscular control of muscle actuators in biped movements were studied: neural compensation, muscle load distribution, and muscle function. A block diagram of a neural control circuit model of the control nervous system is presented. Based on this block diagram a circuit comprised of a dynamic compensator, an inverse plant, and pre-programmed reference trajectory generators is proposed for control of a general n-link biped model. This circuit is used to study the postural stability and point-to-point voluntary movement of a two-link planar biped with two pairs of muscle models. The muscle load distribution, relevant to functional electrical stimulation of paraplegic patients for restoration of limited motor function, is considered. A quantitative analysis of the local controllability of a two-link planar biped model incorporating six major muscles of the lower extremities is presented. A model of the muscle for the lower extremities is presented.