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Figure 10 | BioMedical Engineering OnLine

Figure 10

From: An adaptive spinal-like controller: tunable biomimetic behavior for a robotic limb

Figure 10

Scaling of trajectory speed with reach amplitude and durations. (a) increasing initial target distance in the same direction causes similar reach durations but larger hand path speed - the parameter set is fixed with Ks/Ke = 15/1. The numbered trajectory paths in part (a) are matched with their hand path speed in part (b). In (c) and (d), we maintain a constant initial error vector while multiplying Ks and Ke by the same factor (preserve ratio); e.g., in (d) the solid black line’s Ks/Ke ratio is 15/1 (case 4 in (b)), the dashed line is 7.5/0.5, the dotted line is 30/2, and the dash-dotted line is 60/4. All four conditions have identical spatial trajectories (c), despite increases in path speed and concurrent decreases in reach duration (d).

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