A Study on the Force Distribution for Artificial Antagonistic Muscles

The muscle of the body’s joint always appears in the form of a pair of antagonistic muscles. Based on the establishment of the humanoid elbow joint’s mathematical model and focused on the force distribution of the antagonistic muscles, a force distribution system consisted of a fuzzy controller and a force distribution planner is proposed. The fuzzy controller is used to ensure the control performance of the whole system and the force distribution planner to implement the force distribution of the flexor and extensor. The simulation show that in the case of confirming the good control performance, the system can get different force distribution results through regulating the algorithm and parameters of the force distribution planner. Among these,we can find a more suitable and energy-efficient way to distribute the force.