Model Predictive Impedance Control: A Model for Joint Movement.

@article{Towhidkhah1997ModelPI,
title={Model Predictive Impedance Control: A Model for Joint Movement.},
author={Farzad Towhidkhah and R. E. Gander and H. C. Wood},
journal={Journal of motor behavior},
year={1997},
volume={29 3},
pages={209-22}
}

Impedance control has been suggested as the strategy employed by the central nervous system to control human postures and movements. A realization of this strategy is presented that uses a model predictive control algorithm as a higher motor controller. External disturbances are explicitly included in the model. The combination of 3 key factors-joint impedance control, model predictive controller, and external disturbance input-forms the basis for the generality of this model. The model was… CONTINUE READING