The inverted pendulum model of bipedal standing cannot be stabilized through direct feedback of force and contractile element length and velocity at realistic series elastic element stiffness

2008 ◽  
Vol 99 (1) ◽  
pp. 29-41 ◽  
Author(s):  
A. J. “Knoek” van Soest ◽  
Leonard A. Rozendaal
Keyword(s):  
Elastic Element ◽  
Inverted Pendulum ◽  
Contractile Element ◽  
Series Elastic Element ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Direct Feedback ◽  
Series Elastic

A simple Hill element-nonlinear spring model of muscle contraction biomechanics

1991 ◽  
Vol 70 (2) ◽  
pp. 803-812 ◽  
Author(s):  
A. B. Schultz ◽  
J. A. Faulkner ◽  
V. A. Kadhiresan
Keyword(s):  
Elastic Element ◽  
Mechanical Response ◽  
Contractile Element ◽  
Series Elastic Element ◽  
Hindlimb Muscles ◽  
Velocity Relationship ◽  
Force Velocity ◽  
Experimental Values ◽  
Shortening Contractions ◽  
Series Elastic

The purpose of this study was to develop a model to predict the mechanical response of muscles during isometric tetanic, afterloaded isotonic and isovelocity shortening contractions. Two versions of the model were developed. Both incorporated a contractile element that obeyed a Hill force-velocity relationship and a series elastic element. In a quadratic spring version, the series elastic element force was represented as proportional to the square of the stretch; in a cubic spring version, it was represented as proportional to the cube of the stretch. Both versions provided closed-form equations for response predictions that involved four independent parameters. Once the four parameters were chosen, each of these responses could be predicted. Model validity was established by comparing predicted and observed responses in slow and fast hindlimb muscles of rodents. Significant model-predicted responses seldom differed by more than 15% from experimental values. The model can provide insights into how changes in individual properties affect the overall mechanical behavior of muscles in a variety of circumstances and reduce the need for collection of experimental data.

scholarly journals Contractile behavior of the gastrocnemius medialis muscle during running in simulated hypogravity

2021 ◽  
Vol 7 (1) ◽  
Author(s):  
Charlotte Richter ◽  
Bjoern Braunstein ◽  
Benjamin Staeudle ◽  
Julia Attias ◽  
Alexander Suess ◽  
...  
Keyword(s):  
Elastic Element ◽  
Muscle Wasting ◽  
Space Station ◽  
Vigorous Exercise ◽  
Gastrocnemius Medialis ◽  
Gravitational Forces ◽  
Series Elastic Element ◽  
Applied Loading ◽  
Exercise Countermeasures ◽  
Series Elastic

AbstractVigorous exercise countermeasures in microgravity can largely attenuate muscular degeneration, albeit the extent of applied loading is key for the extent of muscle wasting. Running on the International Space Station is usually performed with maximum loads of 70% body weight (0.7 g). However, it has not been investigated how the reduced musculoskeletal loading affects muscle and series elastic element dynamics, and thereby force and power generation. Therefore, this study examined the effects of running on the vertical treadmill facility, a ground-based analog, at simulated 0.7 g on gastrocnemius medialis contractile behavior. The results reveal that fascicle−series elastic element behavior differs between simulated hypogravity and 1 g running. Whilst shorter peak series elastic element lengths at simulated 0.7 g appear to be the result of lower muscular and gravitational forces acting on it, increased fascicle lengths and decreased velocities could not be anticipated, but may inform the development of optimized running training in hypogravity. However, whether the alterations in contractile behavior precipitate musculoskeletal degeneration warrants further study.

scholarly journals Balancing on a narrow ridge: biomechanics and control

1999 ◽  
Vol 354 (1385) ◽  
pp. 869-875 ◽  
Author(s):  
E. Otten
Keyword(s):  
Hip Joint ◽  
Ground Reaction Force ◽  
Inverted Pendulum ◽  
Reaction Force ◽  
Angular Acceleration ◽  
Centre Of Mass ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Narrow Ridge ◽  
Standing Humans

The balance of standing humans is usually explained by the inverted pendulum model. The subject invokes a horizontal ground–reaction force in this model and controls it by changing the location of the centre of pressure under the foot or feet. In experiments I showed that humans are able to stand on a ridge of only a few millimetres wide on one foot for a few minutes. In the present paper I investigate whether the inverted pendulum model is able to explain this achievement. I found that the centre of mass of the subjects sways beyond the surface of support, rendering the inverted pendulum model inadequate. Using inverse simulations of the dynamics of the human body, I found that hip–joint moments of the stance leg are used to vary the horizontal component of the ground–reaction force. This force brings the centre of mass back over the surface of support. The subjects generate moments of force at the hip–joint of the swing leg, at the shoulder–joints and at the neck. These moments work in conjunction with a hip strategy of the stance leg to limit the angular acceleration of the head–arm–trunk complex. The synchrony of the variation in moments suggests that subjects use a motor programme rather than long latency reflexes.

The Condition of Dynamic Stability for Self-Paced Treadmill Walking Based on Inverted Pendulum Model

2021 ◽  
Author(s):  
Yuyang Qian ◽  
Kaiming Yang ◽  
Yu Zhu ◽  
Wei Wang ◽  
Chenhui Wan
Keyword(s):  
Dynamic Stability ◽  
Inverted Pendulum ◽  
Treadmill Walking ◽  
Inverted Pendulum Model ◽  
Pendulum Model

scholarly journals Turning Gait Planning Method for Humanoid Robots

2018 ◽  
Vol 8 (8) ◽  
pp. 1257 ◽  
Author(s):  
Tianqi Yang ◽  
Weimin Zhang ◽  
Xuechao Chen ◽  
Zhangguo Yu ◽  
Libo Meng ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Center Of Mass ◽  
Translational Motion ◽  
Humanoid Robots ◽  
Inverted Pendulum Model ◽  
Straight Line ◽  
Pendulum Model ◽  
The Stability ◽  
And Control ◽  
Present Simulation

The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning.

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