Model Predictive Impedance Control: A Model for Joint Movement.

  title={Model Predictive Impedance Control: A Model for Joint Movement.},
  author={F. Towhidkhah and R. E. Gander and H. C. Wood},
  journal={Journal of motor behavior},
  volume={29 3},
  • F. Towhidkhah, R. E. Gander, H. C. Wood
  • Published 1997
  • Computer Science, Psychology, Medicine
  • Journal of motor behavior
  • 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
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