Stability conditions of an ODE arising in human motion and its numerical simulation

Takahiro Kosugi; Hitoshi Kino; Masaaki Goto; Yuki Matsutani

Results in Applied Mathematics (Oct 2019)

Stability conditions of an ODE arising in human motion and its numerical simulation

Takahiro Kosugi,
Hitoshi Kino,
Masaaki Goto,
Yuki Matsutani

Affiliations

Takahiro Kosugi: Department of Intelligent Mechanical Engineering, Faculty of Engineering, Fukuoka Institute of Technology, Fukuoka, 811-0295, Japan; Corresponding author.
Hitoshi Kino: Department of Intelligent Mechanical Engineering, Faculty of Engineering, Fukuoka Institute of Technology, Fukuoka, 811-0295, Japan
Masaaki Goto: Department of Intelligent Mechanical Engineering, Faculty of Engineering, Fukuoka Institute of Technology, Fukuoka, 811-0295, Japan
Yuki Matsutani: Department of Robotics, Faculty of Engineering, Kindai University, Higashi-Hiroshima, 739-2116, Japan

Journal volume & issue: Vol. 3

Abstract

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This paper discusses the stability of an equilibrium point of an ordinary differential equation (ODE) arising from a feed-forward position control for a musculoskeletal system. The studied system has a link, a joint and two muscles with routing points. The motion convergence of the system strongly depends on the muscular arrangement of the musculoskeletal system. In this paper, a sufficient condition for asymptotic stability is obtained. Furthermore, numerical simulations of the penalized ODE and experimental results are described. Keywords: Feed-forward position control, Musculoskeletal system with routing points, Stability condition, Lyapunov stability theory, Numerical simulation, Experimental result

Published in Results in Applied Mathematics

ISSN: 2590-0374 (Online)
Publisher: Elsevier
Country of publisher: United States
LCC subjects: Science: Mathematics
Website: https://www.journals.elsevier.com/results-in-applied-mathematics/

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