Equilibrium Point Control Cannot be Refuted by Experimental Reconstruction of Equilibrium Point Trajectories

Equilibrium point control cannot be refuted by experimental reconstruction of equilibrium point trajectories.

In the literature, it has been hotly debated whether the brain uses internal models or equilibrium point (EP) control to generate arm movements. EP control involves specification of EP trajectories, time series of arm configurations in which internal forces and external forces are in equilibrium; if the arm is not in a specified EP, it is driven toward this EP by muscle forces arising due to ce...

Modeling of Equilibrium Point Trajectory Control

MODELING OF EQUILIBRIUM POINT TRAJECTORY CONTROL IN HUMAN ARM MOVEMENTS by Kai Chen The underlying concept of the Equilibrium Point Hypothesis (EPH) is that the CNS provides a virtual trajectory of joint motion, representing spacing and timing, with actual movement dynamics being produced by interactions of limb inertia, muscle viscosity and speed/position feedback from muscle spindles. To coun...

From Equilibrium Point to Optimal Control

In the mid sixties, Feldman (1966) reported on experiments on feedback control processes that stabilize the human arm. In a typical test, the elbow flexors (or extensors) would be loaded and the subject was asked to maintain a predetermined elbow angle. After a sudden decrease of the load, the forearm would settle at a new position. The experiments were repeated for the same initial elbow posit...

The Equilibrium Point Hypothesis for Control of Movements

An Equilibrium Point based Model Unifying Movement Control in Humanoids

Despite all the dynamics methods effectively used in robotics control, few tackle the intricacies of the human musculoskeletal system itself. During movements, a huge amount of energy can be stored passively in the biomechanics of the muscle system. Controlling such a system in a way that takes advantage of the stored energy has lead to the Equilibrium-point hypothesis (EPH). In this paper, we ...