Motor impedance and inverse kinematics in musculoskeletal systems

A method for resolving kinematic redundancies of musculoskeletal systems is discussed. First, the relationships between muscle force and end-point motion are derived by defining two kinds of Jacobian matrices. Then it is shown that the motor impedance allows not only the end-point displacement but also the end-point velocity and acceleration to be transformed into the joint and muscle coordinates.<<ETX>>