| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2014: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2013: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Outline of Final Research Achievements |
The existence of bi-articular muscles greatly contributes to hybrid position and force control, and compliance control of the end point of extremities. EMG analysis shows that, during heel contact, the electrical discharges occur simultaneously in the pair of antagonistic bi-articular muscles, contributed to control of the output force direction. The theoretical robotics analysis shows that this simultaneous electrical discharge is necessary for controlling both the output forces at the heel as the point of contact, and the stiffness ellipse.
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