Human Articulator Motor Control Based on Inverse Dynamics
Kangsoo Kim, Hiroaki Gomi · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2007
The inverse dynamics based motor control strategy in human articulatory motion has been investigated. As the plant for this control application, dynamic model of human articulators consisting of lip soft tissue with related muscles and bones is introduced. The continuum of lip soft tissue is represented as a discrete model approximation composed of networked point masses interconnected via viscoelastic elements. Stiffness of every viscoelastic element is adjusted to ensure the compatibility in static deformation between discrete model and its continuum prototype. Simulation of forward dynamics by activating ingeniously selected muscle set induces a mimic of actual human speech articulation, called pseudo-speech motion. As a mathematical description of the human speech acquisition, articulatory control simulation based on iterative estimation of muscle motor command is presented. Inverse dynamics driving iterative estimation lets the articulator dynamic model put into practice an articulatory motion, induced by the estimated muscle motor command.