Motion Stability of a One-Link Torso Model Under Muscular Coactivation

Stability of movement of a one-link human torso model is discussed. Three pair; of actuators control the model. The actuators hate physiological attributes of muscles with their tension related to excitation, length and locity. Coactivation and intrinsic feedback are used so as to achiey stability of the system, and for optimizing the performance of the system under constraints. The coactivation of muscles can provide robustness of the performance of the system.