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Model Predictive Impedance Control MPIC
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Motor Control Features
Feedback (closed loop) Feedforward (open loop) Learning Predictive Control Joint (muscle) impedance Interaction with environment Hierarchical EPH, Rhythmic & Tracking movements, …
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Limbic System Highest Level Need Associative Cortex Plan Middle Level Cerebellum Motor Cortex Basal Ganglia Motor Program Spinal Cord Lowest Level Musculo-Skeletal System Movement
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Stiffness Control Scheme
Disturbance T d Delay Receptors Brain Model b Torque Joint Movement Spinal qd Circuits Feedforward Joint-Load Controller and Dynamics Trajectory q Muscles Selector s
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Stiffness Control Scheme
Disturbance T d Delay Receptors Brain Model b Torque Joint Movement Spinal qd Circuits Feedforward Joint-Load Controller and Dynamics Trajectory q Muscles Selector s
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Model Predictive Impedance Control
Trajectory Brain Model Selector . q Identifier d q d System- Disturbance M P C and Feedforward Controller Adaptation Models Algorithm . b + + b - - Delay s b Delay Model Predictive Impedance Control + + G1 Receptors EMG Receptors G2 Torque T d + + G3 Joint-Load . q q
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Example 1: Rhythmic Movement
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Rhythmic Movement Errors
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Model Response for Rhythmic Movement
Time (s)
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External Disturbances
Time (s)
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Model Mismatch Responses for Rhtymic Movement
Time (s)
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Example 2: Tracking Movement
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Tracking Movement Errors
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Tracking Movement
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Errors of Parameter Mismatch
( Rhythmic Movement ) Parameter(s) % % 30% % J B K T g J-B-K Error is root mean square errors (rad).
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Errors of Parameter Mismatch
( Tracking Movement ) Parameter(s) % % 30% % J B K T g td J-B-K Error is root mean square errors (rad).
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Example 3: Gait
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G3 is determined by linearization of the equations for small angle deviations
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M P C x0 1 2 . Identification Control Pendulum Dynamics Desired
Trajectory Identification Control M P C 1 2 Step Function Dynamic Impedance PD Controller) bS + s _____________ (T1S+1)(T2S+1) 1 X =AX+BU Y =CX+DU . x0 Pendulum Dynamics Angle of Ankle Joint
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Changes of Impulse Response & Control Signal in Double Pendulum Model
Time (s)
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