An electronic simulation of the human handwriting system

A simple model of an antagonistic muscle system is developed based on several published physiological observations and is found to be a linear first order approximation to mammalian muscle. The model response is compared to that of the human hand in various tests including impulse response, frequency response, step response and the effect of sliding friction. The results of these tests are used to select the mechanical parameters of the proposed model. The final model simulates many of the observed responses of the human hand when executing motions similar to handwriting. A control scheme is proposed for use with the mechanical model and an electronic simulation of the whole system is conducted using a digital and an analogue computer. Good matches of displacement and acceleration waveforms from human handwriting were produced by the simulation. A discussion of some physiological evidence supporting the proposed control scheme is given.Applied Science, Faculty ofElectrical and Computer Engineering, Department ofGraduat