@article{ASME2010_Evangelosv2,
  title = {A first optimal control solution for a complex, nonlinear, tendon driven neuromuscular finger model},
  booktitle = {Proceedings of the ASME 2010 Summer Bioengineering Conference August 30-September 2, 2010, Naples, Florida, USA},
  abstract = {In this work we present the first constrained stochastic op- 
  timal feedback controller applied to a fully nonlinear, tendon 
  driven index finger model. Our model also takes into account an 
  extensor mechanism, and muscle force-length and force-velocity 
  properties. We show this feedback controller is robust to noise 
  and perturbations to the dynamics, while successfully handling 
  the nonlinearities and high dimensionality of the system. By ex- 
  tending prior methods, we are able to approximate physiological 
  realism by ensuring positivity of neural commands and tendon 
  tensions at all timesthus can, for the first time, use the optimal control framework 
  to predict biologically plausible tendon tensions for a nonlinear 
  neuromuscular finger model. 
  METHODS 
  1 Muscle Model 
  The rigid-body triple pendulum finger model with slightly 
  viscous joints is actuated by Hill-type muscle models. Joint 
  torques are generated by the seven muscles of the index fin- 
  },
  year = {2010},
  note = {clmc},
  slug = {asme2010_evangelosv2},
  author = {Theodorou, E. A. and Todorov, E. and Valero-Cuevas, F.},
  crossref = {p10327}
}