Dexterous manipulation and control with volumetric muscles

Seunghwan Lee, Ri Yu, Jungnam Park, Mridul Aanjaneya, Eftychios Sifakis, Jehee Lee

Research output: Contribution to journalArticlepeer-review

14 Scopus citations


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.

Original languageEnglish (US)
Article numberA18
JournalACM Transactions on Graphics
Issue number4
StatePublished - 2018

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design


  • Motion control
  • Musculoskeletal simulation
  • Trajectory Optimization
  • Volumetric Muscles


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