Abstract
One of the advantages of biological skeleto-motor systems is the opponent muscle design, which in principle makes it possible to achieve facile independent control of joint angle and joint stiffness. Prior analysis of equilibrium states of a biologically-based neural network for opponent muscle control, the FLETE model, revealed that such independent control requires specialized interneuronal circuitry to efficiently coordinate the opponent force generators. In this chapter, we refine the FLETE circuit membrane equations and update the equilibrium analysis. We also incorporate additional neuronal circuitry that ensures efficient opponent force generation and velocity regulation during movement.
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Bullock, D., Contreras-Vidal, J.L., Grossberg, S. (1993). Equilibria and Dynamics of a Neural Network Model for Opponent Muscle Control. In: Bekey, G.A., Goldberg, K.Y. (eds) Neural Networks in Robotics. The Springer International Series in Engineering and Computer Science, vol 202. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-3180-7_25
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DOI: https://doi.org/10.1007/978-1-4615-3180-7_25
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