Fig. 3From: Basic study of sensorless path tracking control based on the musculoskeletal potential methodSymbols for the muscular arrangement. The target system is the human-arm-like structure similar to that shown in Fig. 1a; the number of joint DOFs is \(n=2\) and the number of muscles is \(m=6\). \(q_i\) (\(i=1,\ldots ,6\)) is the muscular lengthBack to article page