Dexterous Manipulation and Control with Volumetric Muscles

Dexterous Manipulation and Control
with Volumetric Muscles

Seunghwan Lee1    Ri Yu1    Jungnam Park1   
Mridul Aanjaneya2    Eftychios Sifakis3    Jehee Lee1

1 Seoul National University    2 Rutgers University    3 University of Wisconsin-Madison   

Demonstration of motion control in an anatomical simulation of a juggling task. The Skeleton motions are driven by volumetric muscles. Active muscles are shown in pink.

We propose a framework for simulation and control of the human musculoskeletal system, capable of reproducing realistic animations of dexterous activities with high-level coordination. We present the first controllable system in this class that incorporates volumetric muscle actuators, tightly coupled with the motion controller, in enhancement of line-segment approximations that prior art is overwhelmingly restricted to. The theoretical framework put forth by our methodology computes all the necessary Jacobians for control, even with the drastically increased dimensionality of the state descriptors associated with three-dimensional, volumetric muscles. The direct coupling of volumetric actuators in the controller allows us to model muscular deficiencies that manifest in shape and geometry, in ways that cannot be captured with line-segment approximations. Our controller is coupled with a trajectory optimization framework, and its efficacy is demonstrated in complex motion tasks such as juggling, and weightlifting sequences with variable anatomic parameters and interaction constraints.


Seunghwan Lee, Ri Yu, Jungnam Park, Mridul Aanjaneya, Eftychios Sifakis and Jehee Lee,
Dexterous Manipulation and Control with Volumetric Muscles
ACM Transactions on Graphics (SIGGRAPH 2018), Volume 37, Issue4, August 2018, Article No. 57.

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Demo video