Massachusetts Institute of Technology
Sign in | Create Account

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. If you don’t have an account yet, sign up now!

Dynamic Walking 2010

Dynamic Walking 2010

Category: Education | Updated 4 years ago

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


Viewed
2639 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Ian Manchester. Regions of Attraction to Limit Cycles of Nonlinear Hybrid Systems

Dynamic Walking 2010. Ian Mancheste...

Added 4 years ago | 00:25:08 | 4926 views

Dynamic Walking 2010. Waleed Farahat. Optimal Workloop Energetics of Muscle-Actuated Systems: An Impedance Matching View

Dynamic Walking 2010. Waleed Faraha...

Added 4 years ago | 00:41:49 | 2864 views

Dynamic Walking 2010. Manoj Srinivasan. Observations on the Structure of Optimal Gaits on Various Simple Bipedal Models

Dynamic Walking 2010. Manoj Sriniva...

Added 4 years ago | 00:29:36 | 3869 views

Dynamic Walking 2010. Robert Gregg. Control and Planning with Asymptotically Stable Gait Primitives: 3D Dynamic Walking to Locomotor Rehabilitation.

Dynamic Walking 2010. Robert Gregg....

Added 4 years ago | 00:33:35 | 4531 views

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

Dynamic Walking 2010. Shuuji Kajita...

Added 4 years ago | 00:47:15 | 4098 views

Dynamic Walking 2010. Aaron Ames. First steps toward closing the loop on walking: from human walking to hybrid systems to robotic walking and back

Dynamic Walking 2010. Aaron Ames. F...

Added 4 years ago | 00:48:59 | 4301 views