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TECHNICAL BRIEFS

Stabilizing PID Controllers for a Single-Link Biomechanical Model with Position, Velocity, and Force Feedback

[+] Author and Article Information
Kamran Iqbal

Department of Systems Engineering, University of Arkansas at Little Rock, Little Rock, AR 72204 e-mail: kxiqbal@ualr.edu

Anindo Roy

Department of Applied Science, University of Arkansas at Little Rock, Little Rock, AR 72204 e-mail: axroy@ualr.edu

J Biomech Eng 126(6), 838-843 (Feb 04, 2005) (6 pages) doi:10.1115/1.1824134 History: Received May 27, 2003; Revised May 05, 2004; Online February 04, 2005
Copyright © 2004 by ASME
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References

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Figures

Grahic Jump Location
Schematic of the single-link biomechanical model over stationary base of support (BOS). In the figure, m is the mass of the rigid body inverted pendulum, mg is gravitational force, k is the location of center of mass (COM) above BOS, □ is the angular displacement (ankle angle), and M is the total moment acting on the body.
Grahic Jump Location
Conceptual block diagram of the human musculoskeletal system with inherent muscle stiffness and viscosity, including physiological latencies in position, velocity, and force feedback (partly adapted from Ref. 17; see the text for explanation of notation).
Grahic Jump Location
An equivalent single-channel, unity feedback representation for the biomechanical model.
Grahic Jump Location
Closed-loop response to an impulse disturbance input: (a) with regular position, velocity, and force feedback, including latencies; (b) in the absence of force feedback; (c) in the absence of spindle feedback; and (d) in the absence of physiological latencies.
Grahic Jump Location
Active ankle moments underlying movement for the following cases: (a) with regular position, velocity, and force feedback, including latencies; (b) in the absence of force feedback; (c) in the absence of spindle feedback; and (d) in the absence of physiological latencies.

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