Massachusetts Institute of Technology
Sign in

Dynamic Walking 2010. Tom Roberts. Fast, cheap and out of control: dynamic interactions of elastic structures and muscle motors

It is now well established that the elastic function of tendons has a profound influence on the mechanics, energetics, and control of locomotion. A model of a simple Hookean spring in series with a muscle actuator reveals mechanisms that reduce the energy cost of locomotion, amplify muscle power output for ballistic movements, and provide passive dynamic responses to perturbations. Yet recent work suggests that this simple model fails to capture some important interactions between muscles and elastic structures. For example, we find that elastic structures influence muscle shape changes during contraction, and these shape changes in turn influence muscle force and velocity. Shape changes in muscle likewise result in tendon loading along more than one axis, resulting in an effective stiffness of tendons that varies dynamically. These observations have implications for motor control that are not yet fully explored. On the one hand, changes in muscle force and velocity mediated by muscle-spring interactions can provide rapid adjustments in mechanical output independent of neural control. On the other hand, motor commands for prescribed motions must account for these complex dynamics.

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 over 6 years ago

Created
August 04, 2010 18:03
Category
License
All Rights Reserved (What is this?)
Additional Files


Viewed
3651 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Shai Revzen. Data Driven Floquet Analysis for Biomechanics and Robotics

Dynamic Walking 2010. Shai Revzen. ...

Added over 6 years ago | 00:29:45 | 4925 views

Dynamic Walking 2010. Fumihiko Asano. Energy-based Control Approaches to Efficient Dynamic Bipedal Walking.

Dynamic Walking 2010. Fumihiko Asan...

Added over 6 years ago | 00:34:20 | 6570 views

Dynamic Walking 2010. Sangbae Kim. Bio-inspired Robot Design for Hyper-Dynamic Locomotion

Dynamic Walking 2010. Sangbae Kim. ...

Added over 6 years ago | 00:31:35 | 10063 views

Dynamic Walking 2010. Andy Ruina. Cats, astronauts, trucks, bikes, arrows, and muscle-smarts: Stability, translation, and rotation

Dynamic Walking 2010. Andy Ruina. C...

Added over 6 years ago | 00:49:47 | 5742 views

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

Dynamic Walking 2010. Greg Sawicki....

Added over 6 years ago | 00:30:00 | 4400 views

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

Dynamic Walking 2010. Russ Tedrake....

Added over 6 years ago | 00:46:46 | 7252 views