Mechanical Engineering - Theses

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Author: ZHOU, SHOU-HAN × End date: 2019 × Start date: 2000 × Type: Masters Research thesis ×

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    Human motor control: simulation and system identification
    ZHOU, SHOU-HAN ( 2010)
    It has been found that humans are able to interact with their environment by adjusting their musculoskeletal system properties. This trait allows the human to perform many different tasks ranging from opening doors to wood carving. Current computational models based on the Electromyography (EMG) Force Control Hypothesis in the literature have difficulties in explaining various ideas of human motor control such as the presence of equifinality and the presence of postures in movement. These ideas have been explained previously using the Equilibrium Point Hypothesis (EPH). However, there exist few rigorous mathematical frameworks which account for the ideas presented in the EPH, resulting in few computational models of human motor control based on the EPH. This work proposes a computational framework to simulate human motor control using the Equilibrium Point Hypothesis. The computational framework is constructed using the ideas of Operational Space Formulation which can account for the presence of posture in movement. Furthermore, the framework introduces the idea of Equilibrium Model which, when used in the context of Model Reference Adaptive Control and Iterative Learning Control, is able to explain human motor control and learning based on the idea of equifinality. The computational framework is applied to construct a model which simulates human subjects performing the task of reaching for a target in different dynamic environments generated by a robot. The results of the simulation are compared qualitatively and quantitatively with the experimental data collected from human subjects.