Abstract
The basic postulates of this new approach to the study of anthropomorphic systems dynamics are given in the paper. In comparison with other attempts, this approach enables the maximal reduction of dimensionality, being based on prescribing synergy, to one part of the system. As an illustration of the method, an example is given of a complete synergy synthesis for the adopted configuration of the anthropomorphic systems.
Sommaire
Les postulats servant de base à cette nouvelle approche à l'étude de la dynamique des systèmes anthropomorphes sont explicités dans cette communication. Par rapport aux autres tentatives, cette approche rend possible une réduction maximale de dimensionnement en prenant comme point de départ l'attribution du phénomène de synergie à une quelconque partie du système. A titre d'illustration de la méthode considérée, il est fourni une synthèse synergique complète de la configuration retenue pour les systèmes anthropomorphes.
Zusammenfassung
Die Grundpostulate dieses neuen Versuchs einer Studie der Dynamik von anthropomorphen Systemen werden in dieser Arbeit dargelagt. Im Vergleich zu anderen Versuchen macht dieses Vorgehen eine weitestgehende Reduzierung der Dimensionalität dadurch möglich dass, es sich darauf stützt, einem Teil des Systems Synergie zuzuschrieben. Als Illustration der Methode wird ein Beispiel einer vollständigen Synergie-Synthese für die angenommene Konfiguration des anthropomorphen Systems angeführt.
Similar content being viewed by others
References
Frank, A. andMcGhee, R. (1969) Some considerations relating to the design of autopilots of legged vehicles.J. Terramech. 6.
McGhee, R. (1968) Some finite state aspects of legged locomotion.Math. Biosci. 2, 67–84.
Tomović, R. andBellman, R. (1970) Systems approach to muscle control.Math. Biosci. 8, 265–277.
Vukobratović, M. (1972) Artificial locomotion systems: Dynamics, control algorithms, stability. Ph.D. Thesis, Moscow.
Vukobratović, M., Ćirić, V. andHristić, D. (1971) Control of two-legged locomotion systems.Proc. 4th IFAC Symp. Autom. Contr. in Space, Dubrovnik.
Vodovnik, L., Crochetiere, W. andReswick, J. (1967) Control of a skeletal joint by electrical simulation of antagonists.Med. & Biol. Eng. 5.
Vukobratović, M., Frank, A. andJuriĉić, D. (1970) On the stability of biped locomotion.IEEE Trans. BME-17, 25–36.
Vukobratović, M. andJusiĉić, D. (1969) Contribution to the synthesis of biped gait.IEEE Trans. BME-16, 1–6.
Vodovnik, L., Kralj, A., Kelšin, D. andBorovŝak, L. (1968) Theoretical and experimental investigations of dynamic processes during movements of electrically stimulated extremities. Final report to the Institute ‘Milhailo Pupin.’
Vukobratović, M. andStepanenko, J. (1972) On the stability of anthropomorphic systems.Math. Biosci. 15, 1–37.
Vukobratović, M., Stepanenko, J. Ćirić, V. andHristić, D. (1970) Contribution to the study of anthropomorphic systems.Proc. 5th IFAC Congr., Paris.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Vukobratovic, M., Hristic, D. & Stojiljkovic, Z. Development of active anthropomorphic exoskeletons. Med. & biol. Engng. 12, 66–80 (1974). https://doi.org/10.1007/BF02629836
Received:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/BF02629836