Individualization of exosuit assistance based on measured muscle dynamics during versatile walking

2021 ◽  
Vol 6 (60) ◽  
Author(s):  
R. W. Nuckols ◽  
S. Lee ◽  
K. Swaminathan ◽  
D. Orzel ◽  
R. D. Howe ◽  
...  
Keyword(s):  
Muscle Dynamics

Influence of growth rate on white muscle dynamics in rainbow trout and brook trout

2000 ◽  
Vol 56 (6) ◽  
pp. 1548-1552 ◽  
Author(s):  
R. S. Rasmussen ◽  
T. H. Ostenfeld
Keyword(s):  
Growth Rate ◽  
Rainbow Trout ◽  
Brook Trout ◽  
White Muscle ◽  
Muscle Dynamics

scholarly journals From template to anchors: transfer of virtual pendulum posture control balance template to adaptive neuromuscular gait model increases walking stability

2019 ◽  
Vol 6 (3) ◽  
pp. 181911 ◽  
Author(s):  
Ayoob Davoodi ◽  
Omid Mohseni ◽  
Andre Seyfarth ◽  
Maziar A. Sharbafi
Keyword(s):  
Force Feedback ◽  
Linear Quadratic Regulator ◽  
Legged Locomotion ◽  
Model Complexity ◽  
Dynamic Features ◽  
Linear Quadratic ◽  
Physiological Level ◽  
Biomechanical Models ◽  
Muscle Dynamics ◽  
Hip Muscles

Biomechanical models with different levels of complexity are of advantage to understand the underlying principles of legged locomotion. Following a minimalistic approach of gradually increasing model complexity based on Template & Anchor concept, in this paper, a spring-loaded inverted pendulum-based walking model is extended by a rigid trunk, hip muscles and reflex control, called nmF (neuromuscular force modulated compliant hip) model. Our control strategy includes leg force feedback to activate hip muscles (originated from the FMCH approach), and a discrete linear quadratic regulator for adapting muscle reflexes. The nmF model demonstrates human-like walking kinematic and dynamic features such as the virtual pendulum (VP) concept, inherited from the FMCH model. Moreover, the robustness against postural perturbations is two times higher in the nmF model compared to the FMCH model and even further increased in the adaptive nmF model. This is due to the intrinsic muscle dynamics and the tuning of the reflex gains. With this, we demonstrate, for the first time, the evolution of mechanical template models (e.g. VP concept) to a more physiological level (nmF model). This shows that the template model can be successfully used to design and control robust locomotor systems with more realistic system behaviours.

scholarly journals A Model of Cardiac Muscle Dynamics

1974 ◽  
Vol 35 (2) ◽  
pp. 184-196 ◽  
Author(s):  
EDWARD S. GROOD ◽  
ROBERT E. MATES ◽  
HERMAN FALSETTI
Keyword(s):  
Cardiac Muscle ◽  
Muscle Dynamics

scholarly journals Quantitative Examinations of Internal Representations for Arm Trajectory Planning: Minimum Commanded Torque Change Model

1999 ◽  
Vol 81 (5) ◽  
pp. 2140-2155 ◽  
Author(s):  
Eri Nakano ◽  
Hiroshi Imamizu ◽  
Rieko Osu ◽  
Yoji Uno ◽  
Hiroaki Gomi ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Computational Models ◽  
Change Model ◽  
Trajectory Data ◽  
Internal Representations ◽  
Muscle Dynamics ◽  
Kinematic Space ◽  
Wide Range ◽  
Flexion Extension ◽  
Intrinsic Dynamic

Quantitative examinations of internal representations for arm trajectory planning: minimum commanded torque change model. A number of invariant features of multijoint planar reaching movements have been observed in measured hand trajectories. These features include roughly straight hand paths and bell-shaped speed profiles where the trajectory curvatures between transverse and radial movements have been found to be different. For quantitative and statistical investigations, we obtained a large amount of trajectory data within a wide range of the workspace in the horizontal and sagittal planes (400 trajectories for each subject). A pair of movements within the horizontal and sagittal planes was set to be equivalent in the elbow and shoulder flexion/extension. The trajectory curvatures of the corresponding pair in these planes were almost the same. Moreover, these curvatures can be accurately reproduced with a linear regression from the summation of rotations in the elbow and shoulder joints. This means that trajectory curvatures systematically depend on the movement location and direction represented in the intrinsic body coordinates. We then examined the following four candidates as planning spaces and the four corresponding computational models for trajectory planning. The candidates were as follows: the minimum hand jerk model in an extrinsic-kinematic space, the minimum angle jerk model in an intrinsic-kinematic space, the minimum torque change model in an intrinsic-dynamic-mechanical space, and the minimum commanded torque change model in an intrinsic-dynamic-neural space. The minimum commanded torque change model, which is proposed here as a computable version of the minimum motor command change model, reproduced actual trajectories best for curvature, position, velocity, acceleration, and torque. The model’s prediction that the longer the duration of the movement the larger the trajectory curvature was also confirmed. Movements passing through via-points in the horizontal plane were also measured, and they converged to those predicted by the minimum commanded torque change model with training. Our results indicated that the brain may plan, and learn to plan, the optimal trajectory in the intrinsic coordinates considering arm and muscle dynamics and using representations for motor commands controlling muscle tensions.

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