Titlebook: Biomechanics of Anthropomorphic Systems; Gentiane Venture,Jean-Paul Laumond,Bruno Watier Book 2019 Springer International Publishing AG, p

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,Should Anthropomorphic Systems be “Redundant”?,have extra muscles, then which muscle would you give up? By taking a formal mathematical approach to the control of tendons—which is the actual problem that confronts the nervous system—we have proposed a resolution to this apparent paradox by proposing that vertebrates may have, in fact, barely eno

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From Biomechanics to Robotics, yet been identified and used for motion generation. In this chapter we propose to study highly dynamic human movements taking into account their variability, making the choice to consider performance biomechanical variables (tasks) for generating motions and involving whole-body articulations.

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Human Movements: Synergies, Stability, and Agility,ameworks. One of them is the idea of control with spatial referent coordinates (RCs) for salient variables. The other is the idea of intention-specific stability of redundant systems developed within the uncontrolled manifold (UCM) hypothesis. The RC and UCM hypotheses have been united into a single

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Motor Compositionality and Timing: Combined Geometrical and Optimization Approaches, optimality and the geometries’ mixture model are here further combined to form a joint model whereby specific compositions of geometries can be selected to generate an optimal behavior. The optimization serves to define the timing along a path. Additionally, new notions regarding the nature of move

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Design and Control of a Passive Noise Rejecting Variable Stiffness Actuator,ng potential energies to guarantee that co-activation reduces the effect of friction on the joint equilibrium position. The design of an optimized set of springs respecting this condition leads to the construction of a prototype of our actuator. To conclude the work, we also present two control solu