Modeling of multi-joint motor systems

A model of elastic mechanical systems is presented in the form of a network of constraint equations expressing the geometrical relations among component elements and their steady-state mechanical behavior. The model takes into account the nonlinear features of motor system geometry and is used to represent mechanical interactions with the environment as well as to derive appropriate patterns of control input given a wide variety of motor tasks. This approach is applicable to the analysis of biological motor systems. A framework for modeling the mechanical properties of springs and linkages is presented. An example is given where the system is used to model the control of a human arm.<>