Self-stabilizing function of two dimensional human lower limb musculoskeletal system

Recently, the importance of musculoskeletal system's self-stability for its movements has been focused. Self-stability of a system is defined as the ability of a system to return to its original state after a disturbance by its own quality without any controls. In this study, with a Lyapunov function, we analytically derive the sufficient condition which gives self-stabilizing function to the 2-dimensional time-varying musculoskeletal system and investigate how musculoskeletal systems achieve them.