Massachusetts Institute of Technology
Sign in

Dynamic Walking 2010. Greg Sawicki. Mechanics and control of a compliant muscle-tendon during cyclic contractions

Compliant mechanical behavior of the lower-limb can capture the basic dynamics of stable walking and running across a range of speeds, but the neuromechanical mechanisms responsible for robust, spring-like limb dynamics are not entirely clear. In order for a compliant muscle-tendon unit to behave similar to an elastic spring, the mechanics of active (muscle fascicles) and passive (series-elastic tendon and aponeurosis) tissues must be appropriately coordinated (i.e. ‘tuned’) within the movement cycle. This ‘tuning’ involves adjusting the pattern of muscle activation to modulate muscle force/stiffness output (via intrinsic force-length and force velocity properties) in order to match the loading profile imposed by the environment through series elastic structures within the muscle-tendon unit. Using bullfrog plantaris muscle-tendon, a servo-controlled muscle ergometer and sonomicrometry, we have developed a novel experimental framework to study the neuromechanics of a compliant muscle -tendon unit in vitro. In our initial experiments we employed classical work-loop techniques to understand how the feedforward (i.e. open-loop) muscle activation pattern (timing, magnitude and duration of stimulation) influences muscle-tendon unit net work output and internal energy exchange between muscle fascicles and series-elastic tissues. First I will present results demonstrating conditions that lead to ‘tuned’ elastic behavior of a compliant muscle-tendon unit. Then I will discuss plans to extend our framework and address the relative roles of neural feedback (length and/or force) and muscle-tendon architecture in stabilizing perturbations to steady-state, ‘tuned’ elastic cycles.

Comments (0)

It looks like no one has posted a comment yet. You can be the first!

You need to log in, in order to post comments.

Dynamic Walking 2010

Dynamic Walking 2010

Category: Education | Updated 6 years ago

August 04, 2010 16:58
All Rights Reserved (What is this?)
Additional Files

4129 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Jessy Grizzle. Feedback Control of the Bipedal Robot MABEL

Dynamic Walking 2010. Jessy Grizzle...

Added 6 years ago | 00:56:13 | 8123 views

Dynamic Walking 2010. Jerry Pratt. Humanoid Disturbance Recovery with Limited Available Footholds

Dynamic Walking 2010. Jerry Pratt. ...

Added 6 years ago | 00:33:23 | 4415 views

Dynamic Walking 2010. Anton Shiriaev. VHC Tools for Gait Analysis and Control.

Dynamic Walking 2010. Anton Shiriae...

Added 6 years ago | 00:34:00 | 5272 views

Dynamic Walking 2010. Shuuji Kajita. Development of Cybernetic Human HRP-4C - struggle to realize human walking

Dynamic Walking 2010. Shuuji Kajita...

Added 6 years ago | 00:47:15 | 5200 views

Dynamic Walking 2010. Michael Goldfarb. Implicit Control of a Powered Knee and Ankle Prosthesis.

Dynamic Walking 2010. Michael Goldf...

Added 6 years ago | 00:28:29 | 3420 views

Dynamic Walking 2010. Russ Tedrake. Feedback Motion Planning via Sums-of-Squares Verification

Dynamic Walking 2010. Russ Tedrake....

Added 6 years ago | 00:46:46 | 6951 views