Model Predictive Impedance Control: A Model for Joint Movement.

Abstract

Impedance control has been suggested as the strategy employed by the central nervous system to control human postures and movements. A realization of this strategy is presented that uses a model predictive control algorithm as a higher motor controller. External disturbances are explicitly included in the model. The combination of 3 key factors-joint impedance control, model predictive controller, and external disturbance input-forms the basis for the generality of this model. The model was applied to 3 different types of joint movements: a tracking movement with an unpredicted disturbance, a rhythmic movement, and an unstable biped model of human walking. Computer simulation results showed excellent performance of the model in all 3 cases for optimal values of active joint impedances and an exact match between the musculoskeletal system and the model internal to the model predictive controller. The controller was also able to maintain acceptable performance in the presence of a 25% mismatch between the musculoskeletal system and its internal model.