Stochastic optimal control with variable impedance manipulators in presence of uncertainties and delayed feedback

Abstract

Muscle co-contraction can be modeled as an active modulation of the passive musculo-skeletal compliance. Within this context, recent findings in human motor control have shown that active compliance modulation is fundamental when planning movements in presence of unpredictability and uncertainties. Along this line of research, this paper investigates the… (More)
DOI: 10.1109/IROS.2011.6094918

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