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Figure 3 | BioMedical Engineering OnLine

Figure 3

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

Figure 3

Experimental setup for the first experiment. Shows one set of concentric targets numbered 1 to 24 (squares) with an initial starting point (triangle). The x and y axes are illustrated in relation to the hand, and angle θ is given for an arbitrary target (#3 - white square). The target error is the magnitude distance between the target and the hand. These variables are used to solve eq. (1)-(5). Also observe the asymmetric geometric relationship between the upper arm, l s = 12.5 cm, and the forearm, l e = 22.5 cm.

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