no code implementations • 9 Sep 2022 • Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih, Noel Naughton, Mattia Gazzola, Prashant G. Mehta
Key contributions of this paper are: (i) modeling of major muscle groups to elicit three-dimensional movements; (ii) a mathematical formulation for muscle activations based on a stored energy function; and (iii) a computationally efficient procedure to design task-specific equilibrium configurations, obtained by solving an optimization problem in the Special Euclidean group SE(3).
