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This paper proposes an optimal control methodology that addresses the problem of control of fingertip during a general class of task that requires the fingertip to make a transition from non-contact motion to contact motion. Specifically, the task that the fingertip makes and transitions from motion to static well-directed force production. Here we present a mathematical framework for controlling...
This paper presents a general method for hierarchical feedback control of redundant systems, and applies it to the problem of arm movement control. A high-level feedback controller, designed using optimal control techniques, operates on a simplified virtual plant. A low-level controller is responsible for performing a feedback transformation of the physical plant into the desired virtual plant. The...
Sensorimotor control occurs simultaneously on multiple levels. We present a general approach to designing feedback control hierarchies for redundant biomechanical systems, that approximate the (non-hierarchical) optimal control law but have much lower computational demands. The approach is applied to the task of reaching, using a detailed model of the human arm. Our hierarchy has two levels of feedback...
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