A neural-control system for a humanoid artificial ARM

In this paper we illustrate the architecture and the main features of a bio-inspired control system employed to govern an anthropomorphic artificial Arm. The manipulation system we developed was designed starting from a deeply study of the human limb from the anatomical, physiological and neurological point of view. In accordance with the general view of the Biorobotics field we try to replicate the structure and the functionalities of the natural limb. Thanks to this biomimetic approach we obtained a system that can perform movements similar to those of the natural limb. The control system is organized in a hierarchical way. The low level controller emulates the neural circuits located in the human spinal cord and is charged to reproduce the reflexes behaviors and to control the arm stiffness. The high level control system generates the arm trajectory performing the inverse kinematics and furnishing the instantaneous muscles reference position. In particular we implemented the Inverse kinematic using a gradient based algorithm; at each step the actuators movements are arranged in order to decrease the distance between the wrist and the target position. Simulation and experimental results shows the ability of the control system in governing the arm to follow a predefined trajectory and to perform human like reflexes behaviors.