An Experiments on Co-Contraction of Antagonist Muscles of Human Limb Using RISE Control

This paper considers an experiments on co-contraction of antagonist muscles of human limb using RISE (robust integral of the sign of the error) control. It is known that some experimental results show that the antagonist muscle and agonist muscle work at the same time, then it is called co-contraction. However, the control method of the antagonist muscle in order to give the electrical impulses by neuromuscular electrical stimulation (NMES) is almost not shown in previous researches. One method is evaluated in previous our research by simulations. This paper is located in experimental verification of simulation results. It is shown that the co-contraction is useful to the convergence of the joint angle, the low control input of agonist muscle in step responses and disturbance responses.